combining views of 2 adjacent cameras using rectification

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I have images from 2 cameras next to a football pitch and am trying to find ways of combining them.

I have tried manually selecting equivalent points along the center line and doing perspective transforms to get a top down view and by manipulating where those move to I can get a slightly squashed looking side on view. This is ok but I think there are other solutions to the problem.

I know the angle between the ways the cameras are pointing (I have their centerline vectors) and the distance between the cameras.

I have being trying to use rectification to reshape the image into something more like a panorama or other projections but all I'm getting are streaks of colour so I dont think I am setting it up correctly. How do I use centerline vectors and the distance between the cameras to do rectification.

camera setup: Example showing camera views over a pitch

example goal image: https://forum.actionstitch.com/uploads/default/original/1X/6079e14fb81f6737ebd5094ebe90a303301081bd.jpeg

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