📐 Two-View Metrology

Two-view metrology deals with two projections of the same scene from different projection centers, and .

Because the transformation from to and to are homographies, going from to is a homography as well. Specifically, for in the left image, in the right image, and in the scene plane, we have the following:

Zooming §

A trivial case of two views is zooming. With

we have

Vanishing Points §

If we have two views, our vanishing points are only related by camera intrinsics and rotation, not by translation. Formally, we have the following:

Note that this can be applied to the two other vanishing points as well.