gistfile1.txt

#include <iostream>
#include <opencv/cv.h>
#include <opencv/highgui.h>
#include <fstream>

using namespace std;
using namespace cv;

int main(int argc, char** argv)
{
  Mat img1 = imread("img_1.jpg"); //image
	Mat img2 = imread("img_2.jpg");

	//camera intrinsics
	Mat M = Mat(3,3,CV_32FC1);
	M.at<float>(0,0) = 3547.32095;
	M.at<float>(0,1) = 0;
	M.at<float>(0,2) = 2296.10068;
	M.at<float>(1,0) = 0;
	M.at<float>(1,1) = 3593.17957;
	M.at<float>(1,2) = 2374.71460;
	M.at<float>(2,0) = 0;
	M.at<float>(2,1) = 0;
	M.at<float>(2,2) = 1;

	Mat D = Mat(5,1,CV_32FC1); //distortions
	D.at<float>(0,0) = -0.24966;
	D.at<float>(1,0) = 0.10080;
	D.at<float>(2,0) = 0.00353;
	D.at<float>(3,0) = -0.00097;
	D.at<float>(4,0) = 0;

	//Extrinsics

	Mat R = Mat(3,3,CV_32FC1);
	R.at<float>(0,0) = 0.9753;
	R.at<float>(0,1) = 0.1494;
	R.at<float>(0,2) = -0.1625;
	R.at<float>(1,0) = -0.1482;
	R.at<float>(1,1) = 0.9888;
	R.at<float>(1,2) = 0.0200;
	R.at<float>(2,0) = 0.1636;
	R.at<float>(2,1) = 0.0046;
	R.at<float>(2,2) = 0.9865;

	Mat T = Mat(3,1,CV_32FC1);
	T.at<float>(0,0) = -2376.6;
	T.at<float>(1,0) = -74.7;
	T.at<float>(2,0) = 293;

	Mat R1, R2, P1, P2, Q;
	stereoRectify(M,D,M,D,img1.size(),R,T,R1,R2,P1,P2,Q);

	Mat map1x, map1y, map2x, map2y;
	Mat imgdst1, imgdst2;

	initUndistortRectifyMap(M,D,R1,P1,img1.size(),CV_32FC1,map1x,map1y);
	initUndistortRectifyMap(M,D,R2,P2,img1.size(),CV_32FC1,map2x,map2y);

	remap(img1,imgdst1,map1x,map1y,INTER_LINEAR,BORDER_CONSTANT,Scalar());
	remap(img2,imgdst2,map2x,map2y,INTER_LINEAR,BORDER_CONSTANT,Scalar());

	namedWindow("image1");
	namedWindow("image2");
	imshow("image1",imgdst1);
	imshow("image2",imgdst2);
	imwrite("DSC_0906_rect.jpg",imgdst1);
	imwrite("DSC_0913_rect.jpg",imgdst2);
	waitKey();
	return 0;
}