I have already calibrated a stereo infrared camera using openCV. Then I used
stereoRectify to get
R1, R2, P1, and P2.
But for some computation requirements I want to perform myself the rectification of the two stereo images, then to process matching through epi-polar lines.
I want to follow these steps ( from OpenCV doc) :
But unfortunately, I don't know how OpenCV determine the value of r.
I have googled a bit and I've found this thesis : Fisheye Camera Calibration and Applications
But I'm a bit disappointed.