| #constraints |
| condition |
| constraint |
| type |
| Zero
skew |
| quadratic |
| m |
| Principal
point |
| linear |
| 2m |
| Zero skew (& p.p.) |
| linear |
| m |
|
|
| Fixed aspect ratio (& |
|
| p.p.&
Skew) |
|
| quadratic |
| m-1 |
|
|
| Known aspect ratio |
|
| (&
p.p.& Skew) |
|
| linear |
| m |
|
|
| Focal
length |
|
| (& p.p. & Skew) |
|
| linear |
| m |