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.

Tue Feb 3 17:18:41 MET 1998