Metric constraints
Orthographic Camera
•Rows of P are orthonormal:
Weak Perspective Camera
•Rows of P are orthogonal:
Enforcing “Metric” Constraints
•Compute A such that rows of M have these properties
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Trick (not in original Tomasi/Kanade paper, but in followup work)
•Constraints are linear in AAT :
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•Solve for G first by writing equations for every Pi in M
•Then G = AAT by SVD (since U = V)