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After thinking about it, I assume at the moment, that the origin is the optical center or rather the nodal point of the lens. And the nodal point of the physical and the virtual reference camera lie together. This is why there is in stereoRectify only R1, R2 and no T1, T2 for the virtual camera. The scaling with alpha is then compensated with f in Q.

After thinking about it, I assume at the moment, that the origin is the optical center or rather the nodal point of the lens. And the nodal point of the physical and the virtual reference camera lie together. This is why there is in stereoRectify only R1, R2 and no T1, T2 for the virtual camera. The scaling with alpha is then compensated with f in Q. Do you think this is right? An early reply will oblige.