- Suppose that
i.e., we assume that the two camera positions have fixed internals.
- Suppose, also, that we have recovered affine structure
and a pair of projection matrices
- Then we know that
- We also know that
is the affine transformation that upgrades the affine reconstruction
- The above gives us
- Rearranging and using
, we have
- Thus, the internal parameter matrix can be computed from
the infinite homography using Cholesky decomposition.