This chooses a random axis based on the given relative translations.

Computes the orientation of the neighbor camera based on the orientation of the source camera and the relative rotation between the cameras.

Creates the constraint matrix such that ||A * t|| is minimized, where A is R_i * f_i x R_j * f_j. Given known rotations, we can solve for the relative

Find the next view to add to the order. We attempt to choose a source (i.e., a node with no incoming edges) or choose a node based on a heuristic such

Determines if the majority of the points are in front of the cameras. This is useful for determining the sign of the relative position. Returns true i

Based on the 1D translation projections, compute an ordering of the translations.

Projects all the of the translation onto the given axis.

Rotate the translation direction based on the known orientation such that the translation is in the global reference frame.

Returns true if the vector R1 * (c2 - c1) is in the same direction as t_12.