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CvInvokeStereoRectify Method
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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.World (in Emgu.CV.World.dll) Version: 3.1.0.2282 (3.1.0.2282)
Syntax
public static void StereoRectify(
	IInputArray cameraMatrix1,
	IInputArray distCoeffs1,
	IInputArray cameraMatrix2,
	IInputArray distCoeffs2,
	Size imageSize,
	IInputArray r,
	IInputArray t,
	IOutputArray r1,
	IOutputArray r2,
	IOutputArray p1,
	IOutputArray p2,
	IOutputArray q,
	StereoRectifyType flags,
	double alpha,
	Size newImageSize,
	ref Rectangle validPixRoi1,
	ref Rectangle validPixRoi2
)

Parameters

cameraMatrix1
Type: Emgu.CVIInputArray
The camera matrices [fx_k 0 cx_k; 0 fy_k cy_k; 0 0 1]
distCoeffs1
Type: Emgu.CVIInputArray
The vectors of distortion coefficients for first camera, 4x1, 1x4, 5x1 or 1x5
cameraMatrix2
Type: Emgu.CVIInputArray
The camera matrices [fx_k 0 cx_k; 0 fy_k cy_k; 0 0 1]
distCoeffs2
Type: Emgu.CVIInputArray
The vectors of distortion coefficients for second camera, 4x1, 1x4, 5x1 or 1x5
imageSize
Type: System.DrawingSize
Size of the image used for stereo calibration
r
Type: Emgu.CVIInputArray
The rotation matrix between the 1st and the 2nd cameras' coordinate systems
t
Type: Emgu.CVIInputArray
The translation vector between the cameras' coordinate systems
r1
Type: Emgu.CVIOutputArray
3x3 Rectification transforms (rotation matrices) for the first camera
r2
Type: Emgu.CVIOutputArray
3x3 Rectification transforms (rotation matrices) for the second camera
p1
Type: Emgu.CVIOutputArray
3x4 Projection matrices in the new (rectified) coordinate systems
p2
Type: Emgu.CVIOutputArray
3x4 Projection matrices in the new (rectified) coordinate systems
q
Type: Emgu.CVIOutputArray
The optional output disparity-to-depth mapping matrix, 4x4, see cvReprojectImageTo3D.
flags
Type: Emgu.CV.CvEnumStereoRectifyType
The operation flags, use ZeroDisparity for default
alpha
Type: SystemDouble
Use -1 for default
newImageSize
Type: System.DrawingSize
Use Size.Empty for default
validPixRoi1
Type: System.DrawingRectangle
The valid pixel ROI for image1
validPixRoi2
Type: System.DrawingRectangle
The valid pixel ROI for image2
See Also