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How to use stereoRectify in Python

If I have cameraMatrix and distCoeffs from plain calibration (1 camera) how can I use stereoRectify to prepare some images for reprojectImageTo3D? It seems rotation and translation matrices are needed, but I don't have those in my calibration output...

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updated 2014-03-12 02:31:01 -0500

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How to use stereoRectify in Python

If I have cameraMatrix and distCoeffs from plain calibration (1 camera) how can I use stereoRectify to prepare some images for reprojectImageTo3D? It seems rotation and translation matrices are needed, but I don't have those in my calibration output...