Method StereoRectify

Namespace

OpenCvSharp

Assembly

OpenCvSharp.dll

StereoRectify(InputArray, InputArray, InputArray, InputArray, Size, InputArray, InputArray, OutputArray, OutputArray, OutputArray, OutputArray, OutputArray, FishEyeCalibrationFlags, Size, double, double)

Stereo rectification for fisheye camera model

public static void StereoRectify(InputArray k1, InputArray d1, InputArray k2, InputArray d2, Size imageSize, InputArray r, InputArray tvec, OutputArray r1, OutputArray r2, OutputArray p1, OutputArray p2, OutputArray q, FishEyeCalibrationFlags flags, Size newImageSize = default, double balance = 0, double fovScale = 1)

Parameters

k1 InputArray

First camera matrix.

d1 InputArray

First camera distortion parameters.

k2 InputArray

Second camera matrix.

d2 InputArray

Second camera distortion parameters.

imageSize Size

Size of the image used for stereo calibration.

r InputArray

Rotation matrix between the coordinate systems of the first and the second cameras.

tvec InputArray

Translation vector between coordinate systems of the cameras.

r1 OutputArray

Output 3x3 rectification transform (rotation matrix) for the first camera.

r2 OutputArray

Output 3x3 rectification transform (rotation matrix) for the second camera.

p1 OutputArray

Output 3x4 projection matrix in the new (rectified) coordinate systems for the first camera.

p2 OutputArray

Output 3x4 projection matrix in the new (rectified) coordinate systems for the second camera.

q OutputArray

Output 4x4 disparity-to-depth mapping matrix (see reprojectImageTo3D ).

flags FishEyeCalibrationFlags

Operation flags that may be zero or CALIB_ZERO_DISPARITY . If the flag is set, the function makes the principal points of each camera have the same pixel coordinates in the rectified views.And if the flag is not set, the function may still shift the images in the horizontal or vertical direction(depending on the orientation of epipolar lines) to maximize the useful image area.

newImageSize Size

New image resolution after rectification. The same size should be passed to initUndistortRectifyMap(see the stereo_calib.cpp sample in OpenCV samples directory). When(0,0) is passed(default), it is set to the original imageSize.Setting it to larger value can help you preserve details in the original image, especially when there is a big radial distortion.

balance double

Sets the new focal length in range between the min focal length and the max focal length.Balance is in range of[0, 1].

fovScale double

Divisor for new focal length.