Hello,

In the homography page, equation 41.6 is incorrect. When you use the equality from the previous 41.5 equation, it doesn't give you

$$\lambda_2 / \lambda_1 \begin{bmatrix} x' \\ y' \\ 1 \end{bmatrix} = \mathbf{K} \mathbf{R} \mathbf{K}^{-1} \begin{bmatrix} x' \\ y' \\ 1 \end{bmatrix} $$

The correct answer is

$$\lambda_2 / \lambda_1 \begin{bmatrix} x' \\ y' \\ 1 \end{bmatrix} = \mathbf{K} \mathbf{R} \mathbf{K}^{-1} \begin{bmatrix} x \\ y \\ 1 \end{bmatrix} $$