OpenCV 3 Computer Vision with Python Cookbook

Aligning two views through stereo rectification

In this recipe, you will learn how to rectify two images captured using a stereo camera with known parameters in such a way that, for the point (x_l, y_l) in the left image, the corresponding epipolar line in the right image is y_r=y_l and vice versa. This greatly simplifies feature matching and dense stereo estimation algorithms.