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Thank you, LBerger. I used triangulatePoints() to reconstruct 3D points successfully using undistorted image point pairs, although accuracy is not satisfactory yet.
The origin of the world coordinated system seems to be the principal point (lens center) of the left camera. Still do not know how to use map1 and map2. Th document said: "map1 – The first map of either (x,y) points or just x values having the type CV_16SC2 , CV_32FC1 , or CV_32FC2 . See convertMaps() for details on converting a floating point representation to fixed-point for speed. map2 – The second map of y values having the type CV_16UC1 , CV_32FC1 , or none (empty map if map1 is (x,y) points), respectively." Most sample codes I found in www is to use map1 fro x replacement and map2 for Y-replacement. It is obvious that although Map1 has x and y, but map2 is not empty. Do not know how they are used in remap(). Is there any source code in Remap() or demonstrate how to use map1 and map2?