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Thank you @opalmirror for your explanation! After a couple more tries and research, I managed to solve the problem by replacing the matrix Q from cv2.stereoRectify with this value:

Q = np.float32([[1, 0, 0, 0],
               [0, -1, 0, 0],
               [0, 0, focal_length * 0.05, 0],
               [0, 0, 0, 1]])

Hope this would help others with a similar problem!