- Suppose that
and
- Suppose, also, that we have recovered affine structure
and a pair of projection matrices
and
- Then we know that .
- We also know that
and
- The above gives us
- Rearranging and using
, we have
- Thus, the internal parameter matrix can be computed from the infinite homography using Cholesky decomposition.

Subhashis Banerjee 2008-01-21