Constraining the rectifying PPMs

We will compute the new PPMs, and as the solution of a system of equations, which express the constraints arising from rectification requirements plus others constraints necessary to ensure a unique solution.

In the following, we will denote with the old PPMs. Let

be the sought rectifying PPMs.

• Common focal plane.
• Position of the optical centres.
• Alignment of conjugate epipolar lines.
• Note.
• Orientation of the rectifying retinal plane.
• Orthogonality of the rectifying reference frames.
• Principal points.
• Focal lengths in pixels.
• Set the scale factor.