Home how are determined the value of r in the undistortion formula?
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how are determined the value of r in the undistortion formula?

Yannick Zoetgnande
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Yannick Zoetgnande Published in 2018-02-13 17:42:36Z

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) :

Rectification process

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

radial distance

But I'm a bit disappointed.

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