A method for generating the correction matrix after binocular vision embedded transplantation

First of all, the calibration matrix can be obtained by calling the function in OpenCV by using the calibrated parameters.

   
    Double lm[] = {     4.0178810502329486e+002, 0, 1.5950000000000000e+002, &nbs p;    0,4.0178810502329486e+002,1.1950000000000000e+002,      0,0, 1  
   };      Double ld[] = {    -4.5141575299933429e-001, 2.3998422552817714e-001,  &
nbsp;   1.5081252615814692e-002, 1.8419337906291466e-003, 0     };      Double rm[] = {     4.0178810502329486e+002, 0, 1.5950000000000000e+
002,0,      4.0178810502329486e+002, 1.1950000000000000e+002,0,0, 1     };      Double rd[] = {     -5.1762688060193929e-001,6.3474560985437023e-001, &
nbsp;    -2.5303249541511292e-003, -2.7165709692779268e-003, 0     };      Double rotate[] = {     9.9952858710662951e-001,1.4994693512808868e-002,      2.6791094100126738e-002,- 1.1568939379481839e-002,      9.9224798371307799e-001,-1.2373398263599662e-001,   
   -2.8438762249064085e-002, 1.2336570829767958e-001,      9.9195369792039845e-001
    };      Double translation[] = {     -8.8108837791674333e+001,-



1.3412948452799096e+000,      9.4102431499505457e+000     };
    Cv::mat cameramatrix_l = Cv::mat (3,3,CV_64FC1,LM);
    Cv::mat distortioncoefficients_l = Cv::mat (1,5,CV_64FC1,LD);
    Cv::mat cameramatrix_r = Cv::mat (3,3,CV_64FC1,RM);

    Cv::mat Distortioncoefficients_r = Cv::mat (1,5,CV_64FC1,RD);
    Cv::mat rotations= Cv::mat (3,3,cv_64fc1,rotate);
    Cv::mat translations= Cv::mat (3,1,cv_64fc1,translation);
    Cv::mat R1, R2, P1, P2, Q;
    Cv::rect Roi1,roi2; Cv::mat m_calib_mat_remap_x_l = Cv::mat (ImageSize, CV_32FC1);
    Cv::mat m_calib_mat_remap_y_l= Cv::mat (imagesize, CV_32FC1);
    Cv::mat m_calib_mat_remap_x_r = Cv::mat (ImageSize, CV_32FC1);

    Cv::mat m_calib_mat_remap_y_r = Cv::mat (ImageSize, CV_32FC1); Cv::stereorectify (cameramatrix_l, distortioncoefficients_l, Cameramatrix_r, Distortio
         Ncoefficients_r, ImageSize, rotations, translations, r1,r2,p1,p2,q, 1024
    );
         Initundistortrectifymap (cameramatrix_l, distortioncoefficients_l, R1,P1, ImageSize,
     CV_16SC2, m_calib_mat_remap_x_l, m_calib_mat_remap_y_l);
         Initundistortrectifymap (Cameramatrix_r, Distortioncoefficients_r, R2, P2, ImageSize,
 CV_16SC2, M_calib_mat_remap_x_r,m_calib_mat_remap_y_r);

The relevant correction parameters can be obtained after the embedded operation.