We now show that, if
is the projection matrix which rectifies one of the two views, the
linear transformation (in projective coordinates) that maps the retinal
plane of
onto the rectified retinal plane is given by the matrix
. For any 3-D point
w
we can write
We know that the equation of the optical ray associated to
is
hence
Assuming that rectification does not alter the optical center (
), we obtain
This is a clearer and more compact result than the one reported in [
1
], in which
is not written as the inverse of a projection matrix.
Adrian F Clark