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You can find detailed info in document "Construction of Panoramic Image Mosaics with Global and Local Alignment", Heung-Yeung Shum ([email protected]) and Richard Szeliski ([email protected]) http://research.microsoft.com/pubs/75614/ShumSzeliski-IJCV00.pdf The method "focals from homgraphy matrix" is implemented same as described in this document - page 17.

You can find detailed info in document "Construction of Panoramic Image Mosaics with Global and Local Alignment", Heung-Yeung Shum ([email protected]) and Richard Szeliski ([email protected]) http://research.microsoft.com/pubs/75614/ShumSzeliski-IJCV00.pdf http://research.microsoft.com/pubs/75614/ShumSzeliski-IJCV00.pdf

The method "focals from homgraphy matrix" is implemented same as described in this document - page 17.