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With fresh eyes it was easy to find the easy approach, call, instead:

 initUndistortRectifyMap(cameraMatrix, distCoeffs, R1, cameraMatrix, 
                         Size(cameraSensorX, cameraSensorY), **CV_32FC1**, 
                         distCorrectMapX, distCorrectMapY);

Then you get all the X in MapX and all the Y in the MapY. Then just subtract the offset from each.