disparity without rectification

ynjiun

I understand the normal path for stereoDepth is following:
monoleft/right => rectification => disparity computation

I wonder if there is a way to configure stereoDepth to perform disparity computation without doing retification:
monoleft/right => disparity computation

If yes, how? Please advise. Thanks a lot for your help.

erik

Hi ynjiun ,
Yep, in case you already have rectified frames you can skip rectification with stereo.setRectification(False) docs here.
Thanks, Erik