Method StereoRectify

Namespace

OpenCvSharp

Assembly

OpenCvSharp.dll

StereoRectify(InputArray, InputArray, InputArray, InputArray, Size, InputArray, InputArray, OutputArray, OutputArray, OutputArray, OutputArray, OutputArray, StereoRectificationFlags, double, Size?)

computes the rectification transformation for a stereo camera from its intrinsic and extrinsic parameters

public static void StereoRectify(InputArray cameraMatrix1, InputArray distCoeffs1, InputArray cameraMatrix2, InputArray distCoeffs2, Size imageSize, InputArray R, InputArray T, OutputArray R1, OutputArray R2, OutputArray P1, OutputArray P2, OutputArray Q, StereoRectificationFlags flags = StereoRectificationFlags.ZeroDisparity, double alpha = -1, Size? newImageSize = null)

Parameters

cameraMatrix1 InputArray

First camera matrix.

distCoeffs1 InputArray

First camera distortion parameters.

cameraMatrix2 InputArray

Second camera matrix.

distCoeffs2 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.

T 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 StereoRectificationFlags

Operation flags that may be zero or CV_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.

alpha double

Free scaling parameter. If it is -1 or absent, the function performs the default scaling. Otherwise, the parameter should be between 0 and 1. alpha=0 means that the rectified images are zoomed and shifted so that only valid pixels are visible (no black areas after rectification). alpha=1 means that the rectified image is decimated and shifted so that all the pixels from the original images from the cameras are retained in the rectified images (no source image pixels are lost). Obviously, any intermediate value yields an intermediate result between those two extreme cases.

newImageSize Size?

New image resolution after rectification. The same size should be passed to initUndistortRectifyMap(). 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.

StereoRectify(InputArray, InputArray, InputArray, InputArray, Size, InputArray, InputArray, OutputArray, OutputArray, OutputArray, OutputArray, OutputArray, StereoRectificationFlags, double, Size, out Rect, out Rect)

computes the rectification transformation for a stereo camera from its intrinsic and extrinsic parameters

public static void StereoRectify(InputArray cameraMatrix1, InputArray distCoeffs1, InputArray cameraMatrix2, InputArray distCoeffs2, Size imageSize, InputArray R, InputArray T, OutputArray R1, OutputArray R2, OutputArray P1, OutputArray P2, OutputArray Q, StereoRectificationFlags flags, double alpha, Size newImageSize, out Rect validPixROI1, out Rect validPixROI2)

Parameters

cameraMatrix1 InputArray

First camera matrix.

distCoeffs1 InputArray

First camera distortion parameters.

cameraMatrix2 InputArray

Second camera matrix.

distCoeffs2 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.

T 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 StereoRectificationFlags

Operation flags that may be zero or CV_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.

alpha double

Free scaling parameter. If it is -1 or absent, the function performs the default scaling. Otherwise, the parameter should be between 0 and 1. alpha=0 means that the rectified images are zoomed and shifted so that only valid pixels are visible (no black areas after rectification). alpha=1 means that the rectified image is decimated and shifted so that all the pixels from the original images from the cameras are retained in the rectified images (no source image pixels are lost). Obviously, any intermediate value yields an intermediate result between those two extreme cases.

newImageSize Size

New image resolution after rectification. The same size should be passed to initUndistortRectifyMap(). 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.

validPixROI1 Rect

Optional output rectangles inside the rectified images where all the pixels are valid. If alpha=0 , the ROIs cover the whole images. Otherwise, they are likely to be smaller.

validPixROI2 Rect

Optional output rectangles inside the rectified images where all the pixels are valid. If alpha=0 , the ROIs cover the whole images. Otherwise, they are likely to be smaller.

StereoRectify(double[,], double[], double[,], double[], Size, double[,], double[], out double[,], out double[,], out double[,], out double[,], out double[,], StereoRectificationFlags, double, Size?)

computes the rectification transformation for a stereo camera from its intrinsic and extrinsic parameters

public static void StereoRectify(double[,] cameraMatrix1, double[] distCoeffs1, double[,] cameraMatrix2, double[] distCoeffs2, Size imageSize, double[,] R, double[] T, out double[,] R1, out double[,] R2, out double[,] P1, out double[,] P2, out double[,] Q, StereoRectificationFlags flags = StereoRectificationFlags.ZeroDisparity, double alpha = -1, Size? newImageSize = null)

Parameters

cameraMatrix1 double[,]

First camera matrix.

distCoeffs1 double[]

First camera distortion parameters.

cameraMatrix2 double[,]

Second camera matrix.

distCoeffs2 double[]

Second camera distortion parameters.

imageSize Size

Size of the image used for stereo calibration.

R double[,]

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

T double[]

Translation vector between coordinate systems of the cameras.

R1 double[,]

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

R2 double[,]

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

P1 double[,]

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

P2 double[,]

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

Q double[,]

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

flags StereoRectificationFlags

Operation flags that may be zero or CV_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.

alpha double

Free scaling parameter. If it is -1 or absent, the function performs the default scaling. Otherwise, the parameter should be between 0 and 1. alpha=0 means that the rectified images are zoomed and shifted so that only valid pixels are visible (no black areas after rectification). alpha=1 means that the rectified image is decimated and shifted so that all the pixels from the original images from the cameras are retained in the rectified images (no source image pixels are lost). Obviously, any intermediate value yields an intermediate result between those two extreme cases.

newImageSize Size?

New image resolution after rectification. The same size should be passed to initUndistortRectifyMap(). 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.

StereoRectify(double[,], double[], double[,], double[], Size, double[,], double[], out double[,], out double[,], out double[,], out double[,], out double[,], StereoRectificationFlags, double, Size, out Rect, out Rect)

computes the rectification transformation for a stereo camera from its intrinsic and extrinsic parameters

public static void StereoRectify(double[,] cameraMatrix1, double[] distCoeffs1, double[,] cameraMatrix2, double[] distCoeffs2, Size imageSize, double[,] R, double[] T, out double[,] R1, out double[,] R2, out double[,] P1, out double[,] P2, out double[,] Q, StereoRectificationFlags flags, double alpha, Size newImageSize, out Rect validPixROI1, out Rect validPixROI2)

Parameters

cameraMatrix1 double[,]

First camera matrix.

distCoeffs1 double[]

First camera distortion parameters.

cameraMatrix2 double[,]

Second camera matrix.

distCoeffs2 double[]

Second camera distortion parameters.

imageSize Size

Size of the image used for stereo calibration.

R double[,]

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

T double[]

Translation vector between coordinate systems of the cameras.

R1 double[,]

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

R2 double[,]

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

P1 double[,]

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

P2 double[,]

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

Q double[,]

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

flags StereoRectificationFlags

Operation flags that may be zero or CV_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.

alpha double

Free scaling parameter. If it is -1 or absent, the function performs the default scaling. Otherwise, the parameter should be between 0 and 1. alpha=0 means that the rectified images are zoomed and shifted so that only valid pixels are visible (no black areas after rectification). alpha=1 means that the rectified image is decimated and shifted so that all the pixels from the original images from the cameras are retained in the rectified images (no source image pixels are lost). Obviously, any intermediate value yields an intermediate result between those two extreme cases.

newImageSize Size

New image resolution after rectification. The same size should be passed to initUndistortRectifyMap(). 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.

validPixROI1 Rect

Optional output rectangles inside the rectified images where all the pixels are valid. If alpha=0 , the ROIs cover the whole images. Otherwise, they are likely to be smaller.

validPixROI2 Rect

Optional output rectangles inside the rectified images where all the pixels are valid. If alpha=0 , the ROIs cover the whole images. Otherwise, they are likely to be smaller.