Cv2StereoRectify Method (InputArray, InputArray, InputArray, InputArray, Size, InputArray, InputArray, OutputArray, OutputArray, OutputArray, OutputArray, OutputArray, StereoRectificationFlags, Double, NullableSize)

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,
	Nullable<Size> newImageSize = null
)

Public Shared Sub StereoRectify ( 
	cameraMatrix1 As InputArray,
	distCoeffs1 As InputArray,
	cameraMatrix2 As InputArray,
	distCoeffs2 As InputArray,
	imageSize As Size,
	R As InputArray,
	T As InputArray,
	R1 As OutputArray,
	R2 As OutputArray,
	P1 As OutputArray,
	P2 As OutputArray,
	Q As OutputArray,
	Optional flags As StereoRectificationFlags = StereoRectificationFlags.ZeroDisparity,
	Optional alpha As Double = -1,
	Optional newImageSize As Nullable(Of Size) = Nothing
)

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, 
	Nullable<Size> newImageSize = nullptr
)

static member StereoRectify : 
        cameraMatrix1 : InputArray * 
        distCoeffs1 : InputArray * 
        cameraMatrix2 : InputArray * 
        distCoeffs2 : InputArray * 
        imageSize : Size * 
        R : InputArray * 
        T : InputArray * 
        R1 : OutputArray * 
        R2 : OutputArray * 
        P1 : OutputArray * 
        P2 : OutputArray * 
        Q : OutputArray * 
        ?flags : StereoRectificationFlags * 
        ?alpha : float * 
        ?newImageSize : Nullable<Size> 
(* Defaults:
        let _flags = defaultArg flags StereoRectificationFlags.ZeroDisparity
        let _alpha = defaultArg alpha -1
        let _newImageSize = defaultArg newImageSize null
*)
-> unit 

Parameters

cameraMatrix1

Type: OpenCvSharpInputArray
First camera matrix.

distCoeffs1

Type: OpenCvSharpInputArray
First camera distortion parameters.

cameraMatrix2

Type: OpenCvSharpInputArray
Second camera matrix.

distCoeffs2

Type: OpenCvSharpInputArray
Second camera distortion parameters.

imageSize

Type: OpenCvSharpSize
Size of the image used for stereo calibration.

R

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

T

Type: OpenCvSharpInputArray
Translation vector between coordinate systems of the cameras.

R1

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

R2

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

P1

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

P2

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

Q

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

flags (Optional)

Type: OpenCvSharpStereoRectificationFlags
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 (Optional)

Type: SystemDouble
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 (Optional)

Type: SystemNullableSize
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.

Reference