 Stereo rectification

Stereo rectification transforms a pair of images so that corresponding epipolar lines become aligned scan lines. In a horizontal stereo arrangement, a scene point visible in both rectified views should have the same vertical image coordinate. This turns a two-dimensional matching search into a one-dimensional search along a row.^[ref]

For example, a feature initially at left row 100 and right row 104 can be mapped to the same row in virtual aligned views. Camera calibration supplies geometry for the transforms, and image resampling evaluates the transformed images on a new pixel grid. The new images need not retain every border region. Stereo rectification aligns the geometric search; it does not identify the correct partner among repeated patterns or restore a feature hidden in one view. The rectified focal length and coordinate offsets must also be used when converting stereo disparity to depth.