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. 2016 Dec 6;16(12):2071. doi: 10.3390/s16122071

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© 2016 by the authors; licensee MDPI, Basel, Switzerland.

This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC-BY) license (http://creativecommons.org/licenses/by/4.0/).

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Adapted stereo schematics for 2D motion. The figure illustrates a point P projected on two different images, denoted by points $P_{I 1}$ and $P_{I 2}$ . Z stands for the depth, f for the focal length, $T_{x}$ and $T_{z}$ for translations, $x_{1}$ and $x_{2}$ the distances from the projected points to the principal point and $T_{x}^{'}$ a projected compliment of the translation along the x axis.