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. 2025 Oct 18;25(20):6460. doi: 10.3390/s25206460

Algorithm 1 Computing relative camera transformation.

1:
$H_{n o r m a l i z e d} \leftarrow \frac{H}{∥ H_{3, 3} ∥}$
2:
$B \leftarrow K^{- 1} H_{n o r m a l i z e d} K$
3:
$λ_{1} \leftarrow ∥ c o l_{1} (B) ∥$
4:
$λ_{2} \leftarrow ∥ c o l_{2} (B) ∥$
5:
$r_{1} \leftarrow \frac{λ_{1}}{c o l_{1} (B)}$
6:
$r_{2} \leftarrow \frac{λ_{2}}{c o l_{2} (B)}$
7:
$r_{3} \leftarrow r_{1} \times r_{2}$
8:
$R \leftarrow [r_{1}, r_{2}, r_{3}]$
9:
$t \leftarrow d (c o l_{1} (B) - r_{1})$