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You don't really need to compute rectification transforms (using stereoRectify) unless you want to align epipolar lines and/or do stereo matching. You can just compose the projection matrices from calibration result as (P0 = K [ I | 0 ], P1 = K [ R | T ] ) where I, K, R, & T are the identity matrix, intrinsic camera, rotation and translation matrices respectively. Now you only need the corresponding point from both images (left and right).