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initUndistortRectifyMap - crop


i have a question regarding the rectification and the reprojectImageTo3D method:

in the function initUndistortRectifyMap the image gets undistorted, rectified and cropped... if i calculate the disparity map afterwards the disparity depends on the crop process, is that correct? Does anybody know by what criteria the algorithm cuts the image? Because by computing the 3D data (reprojectImageTo3D) i will get coordinates according to the crop process.

It would be nice, if anybody can help me.