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2016-06-13 08:43:47 -0500 | commented answer | Compute stereo remapped points without applying cv::remap to whole image. For a stereo pair the images are stereo rectified so that the same point in left and right image lies in the same row for both images. I have tested the values obtained from undistortPoints function and they don't match with the values obtained from remap function. |

2016-06-11 18:25:07 -0500 | commented answer | Compute stereo remapped points without applying cv::remap to whole image. Hi, thanks for answering, undistortPoints corresponds to removal of distortion but I have stereo images (left and right) on which I need to apply stereo rectification for the computation of depth.So undistortPoints will not solve the issue. |

2016-06-11 00:10:12 -0500 | asked a question | Compute stereo remapped points without applying cv::remap 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. 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 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 . |

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