# OpenCV StereoRectify

If I have already computed the intrinsics(Camera matrix and distortion coefficients) in the lab.

I have then moved the cameras out in the real world field. I used about 6-10 known locations in the real world, to estimate the camera pose using SolvePnP(). So I also have the two cameras rotation and translation.

I now want to use the 2 cameras to create a stereoCorrespondence. Question is: Do I have to use stereoCalibrate()?

Or can I call StereoRectify right away, using the already known intrinsics? It says StereoRectify() expects a rotation and translation vector/matrix, The documation says it expects:

"The rotation matrix between the 1st and the 2nd cameras’ coordinate systems."


Since I have the camera pose of both cameras, can I simply subtract the 2 translation-vectors and rotation vectors I got from SolvePnP(), and pass the result to StereoRectify()? (Both cameras use the same common object-point reference system)

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