Rectifying stereo images

1. Theory

See the documentation from Willow Garage’s OpenCV for 

The following video (view on YouTube) illustrates the effects of each of these parameters:



2. In practice: step by step procedure with MRPT

See docs for the class: mrpt::vision::CStereoRectifyMap



3. Example C++ code



4. A complete example

See the example: /samples/stereoRectify