OpenCV Q&A Forum - RSS feedhttp://answers.opencv.org/questions/OpenCV answersenCopyright <a href="http://www.opencv.org">OpenCV foundation</a>, 2012-2018.Sat, 11 Jun 2016 00:08:56 -0500Compute stereo remapped points without applying cv::remap to whole image.http://answers.opencv.org/question/96166/compute-stereo-remapped-points-without-applying-cvremap-to-whole-image/ I can compute the same feature's coordinate in left and right stereo image ,please suggest a faster way to compute these points in location in stereo calibrated image without applying cv::remap to whole image.
The initUndistortRectifyMap function in opencv results in maap in x and y direction that contains the coordinates of the undistorted pixel it computes these maps based on intrinsic camera matrix ,distortion matrix and rotation matrix.
initUndistortRectifyMap(cam1,dst1,R1,P1, imageSize, CV_16SC2, map1x,map1y);
cam1 (intrinsic camera matrix)
dst1 (distortion coefficients)
R1 (Rotation Matrix)
map1x (new map of size of the image to denote where the shifted x coordinate lies in undistorted image)
map2x ((new map of size of the image to denote where the shifted y coordinate lies in undistorted image)
So if new the image coordinates in distorted image (xdistort,ydistort)
the undistorted can be computed using
x_undistort = map1x.at<short>(ydistort,xdistort);
y_undistort = map2x.at<short>(ydistort,xdistort);
I checked the corresponding points in undistorted image they donot result in the same point. I checked the value of map1x at (0,0) and it contains negative value and when I click on console to find the coordinate value it gives the corresponding result from (0:im_width,0:imheight) . Is there any normalization procedure ? How to compute points directly without processing the whole image .WorkerSat, 11 Jun 2016 00:08:56 -0500http://answers.opencv.org/question/96166/