OpenCV 3 Computer Vision with Python Cookbook

How to do it

You need to complete the following steps:

1. Import the necessary modules:

import cv2import numpy as npimport matplotlib.pyplot as plt

2. Load the stereo rig calibration parameters:

data = np.load('../data/stereo/case1/stereo.npy').item()Kl, Dl, Kr, Dr, R, T, img_size = data['Kl'], data['Dl'], data['Kr'], data['Dr'], \                                 data['R'], data['T'], data['img_size']

3. Load the left and right test images:

left_img = cv2.imread('../data/stereo/case1/left14.png')right_img = cv2.imread('../data/stereo/case1/right14.png')

4. Estimate the stereo rectification parameters:

R1, R2, P1, P2, Q, validRoi1, validRoi2 = cv2.stereoRectify(Kl, Dl, Kr, Dr,                                                             img_size, R, T)

5. Prepare the stereo rectification transformation maps:

xmap1, ymap1 = cv2.initUndistortRectifyMap(Kl, ...