You need to complete the following steps:
- Import the necessary modules:
import cv2import numpy as npimport matplotlib.pyplot as plt
- 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']
- 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')
- Estimate the stereo rectification parameters:
R1, R2, P1, P2, Q, validRoi1, validRoi2 = cv2.stereoRectify(Kl, Dl, Kr, Dr, img_size, R, T)
- Prepare the stereo rectification transformation maps:
xmap1, ymap1 = cv2.initUndistortRectifyMap(Kl, ...