...Let

46#46 is the transformation which enables to express the rotation in a canonic frame where the rotation axis is the z-axis.

...of

We suppose that 74#74 is normalized such that its determinant is equal to 1.0. Since it is conjugate to a rotation matrix, it has one real and one complex conjugate pair of eigenvalues, all of unit modulus.

...rotations

In this case, it is possible to calculate a matrix 122#122 that satisfies the real Jordan decomposition of each infinite homography.

...rig

Intrinsic parameters of each camera were constant.

Bob Fisher
Mon Dec 7 13:48:06 GMT 1998