If the matrix does not have one of the forms expressed in 3.1.2, the system can then be solved :

if the constraint **r=0** is used, the intrinsic parameters are uniquely defined.
if the constraint is chosen, there are 2 sets of solutions : they correspond to the 2 solutions of a second degree equation. We keep only the one with smallest **|r|**.

Now consider the degenerate cases.

Mon Dec 7 13:48:06 GMT 1998