... affine¹

An affine reconstruction differs from the true one by an affine transformation.

.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.

... norms²

Between three views there are three displacements, 1-2,2-3,and 1-3. Rotation 1-3 can be obtained by composing the others two, but the third translation cannot be obtained by summing the first two, because their norm is unknown (we only consider direction).

.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.