computes the rotation matrices for each camera that (virtually) make both camera image planes the same plane. Consequently, that makes all the epipolar lines parallel and thus simplifies the dense stereo correspondence problem. On input the function takes the matrices computed by cvStereoCalibrate and on output it gives 2 rotation matrices and also 2 projection matrices in the new coordinates. The function is normally called after cvStereoCalibrate that computes both camera matrices, the distortion coefficients, R and T

Namespace:  Emgu.CV
Assembly:  Emgu.CV (in Emgu.CV.dll) Version: 2.1.0.649 (2.1.0.649)

Syntax

         
 C#  Visual Basic  Visual C++ 
public static void cvStereoRectify(
	IntPtr cameraMatrix1,
	IntPtr cameraMatrix2,
	IntPtr distCoeffs1,
	IntPtr distCoeffs2,
	Size imageSize,
	IntPtr R,
	IntPtr T,
	IntPtr R1,
	IntPtr R2,
	IntPtr P1,
	IntPtr P2,
	IntPtr Q,
	STEREO_RECTIFY_TYPE flags
)
Public Shared Sub cvStereoRectify ( _
	cameraMatrix1 As IntPtr, _
	cameraMatrix2 As IntPtr, _
	distCoeffs1 As IntPtr, _
	distCoeffs2 As IntPtr, _
	imageSize As Size, _
	R As IntPtr, _
	T As IntPtr, _
	R1 As IntPtr, _
	R2 As IntPtr, _
	P1 As IntPtr, _
	P2 As IntPtr, _
	Q As IntPtr, _
	flags As STEREO_RECTIFY_TYPE _
)
public:
static void cvStereoRectify(
	IntPtr cameraMatrix1, 
	IntPtr cameraMatrix2, 
	IntPtr distCoeffs1, 
	IntPtr distCoeffs2, 
	Size imageSize, 
	IntPtr R, 
	IntPtr T, 
	IntPtr R1, 
	IntPtr R2, 
	IntPtr P1, 
	IntPtr P2, 
	IntPtr Q, 
	STEREO_RECTIFY_TYPE flags
)

Parameters

cameraMatrix1
IntPtr
The camera matrices [fx_k 0 cx_k; 0 fy_k cy_k; 0 0 1]
cameraMatrix2
IntPtr
The camera matrices [fx_k 0 cx_k; 0 fy_k cy_k; 0 0 1]
distCoeffs1
IntPtr
The vectors of distortion coefficients for first camera, 4x1, 1x4, 5x1 or 1x5
distCoeffs2
IntPtr
The vectors of distortion coefficients for second camera, 4x1, 1x4, 5x1 or 1x5
imageSize
Size
Size of the image used for stereo calibration
R
IntPtr
The rotation matrix between the 1st and the 2nd cameras' coordinate systems
T
IntPtr
The translation vector between the cameras' coordinate systems
R1
IntPtr
3x3 Rectification transforms (rotation matrices) for the first camera
R2
IntPtr
3x3 Rectification transforms (rotation matrices) for the second camera
P1
IntPtr
3x4 Projection matrices in the new (rectified) coordinate systems
P2
IntPtr
3x4 Projection matrices in the new (rectified) coordinate systems
Q
IntPtr
The optional output disparity-to-depth mapping matrix, 4x4, see cvReprojectImageTo3D.
flags
STEREO_RECTIFY_TYPE
The operation flags

See Also