| SFM under orthographic
projection |
| image point |
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| projection |
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| matrix |
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| scene |
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| point |
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| image |
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| offset |
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| More generally: weak perspective, para-perspective,
affine |
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| Trick |
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| • | Choose scene
origin to be centroid of 3D points |
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| • | Choose image
origins to be centroid of 2D points |
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| • | Allows us to drop
the camera translation: |
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