2015-01-08 08:52:44 -0500 asked a question Compute P from K,D,R,T using StereoRectify Hello, I have the following stereo calibration data, which is provided from a file: Left camera: K1 = [500.68330 0 318.57250 0 500.25257 247.11452 0 0 1] D1 = [ -0.22225 0.10381 0.0000 0 ] --> Distortion parameters R1 = [ 1 0 0 0 1 0 0 0 1] T1 = [ 0 0 0 ] Right camera: K2 = [ 500.80696 0 307.20573 0 500.39406 233.52064 0 0 1] D2 = [ -0.22738 0.11823 0 0 ] R2 = [ 0.994584465424537 0.008137584213299 0.103612358622704 -0.008733820371460 0.999947802720680 0.005302095416238 -0.103563804091524 -0.006178313463662 0.994603623020164] T2 = [ -399.96195 -22.45476 0.66913 ]  I use the following code in order the get the P1 and P2 matrices: cv.StereoRectify(K1, K2, D1, D2, (height, width), R2, T2, R1, R2, P1, P2, np.zeros((4, 4), float)), 0)  The obtained output is the following, but when I apply this calibration I can observe it is not good: R1 [[ 0.99270276 0.06418606 0.10208517] [-0.06433084 0.99792686 -0.00187686] [-0.10199401 -0.00470406 0.99477389]] R2 [[ 0.99842635 0.05605389 -0.00167035] [-0.0560562 0.99842668 -0.00136989] [ 0.00159094 0.00146137 0.99999767]] P1 [[ 427.68975971 0. 255.76326752 0. ] [ 0. 427.68975971 237.85540771 0. ] [ 0. 0. 1. 0. ]] P2 [[ 4.27689760e+02 0.00000000e+00 3.00858452e+02 -1.71329243e+05] [ 0.00000000e+00 4.27689760e+02 2.37855408e+02 0.00000000e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 0.00000000e+00]]  Can anyone notice what am I doing wrong? Thanks in advance.