title: Using Rotation and Translation Matrix in OpenCV
body: <p>What I am trying to do is overlay the image from the right camera to the image from the left camera. To do this, I think have to fine the rotation and translation matrix for the right camera with respect to the left camera. Then I would apply the translation and rotation matrix to the image on the right camera?</p>
  
  <p>Assuming this is the correct way, I would get the rotation and translation matrix from cvStereoCalibrate(), but how would I use these matrices to give me "mapx" and "mapy" so I could use it for cvRemap() on the right image?</p>
  
  <p>This is similar to getting the intrinsic and distortion from cvCalibrateCamera2() then using cvInitUndistortMap() to get mapx and mapy and finally using cvRemap() to get the undistorted image.</p>
  
  <p>Is there a cvInitUndistortMap() equivalent for rotation and translation?</p>
  
  <p>I don't need the images to appear as if they had been taken by two cameras that are row aligned. I want to calibrate it for the Microsoft Kinect such that I can match points from the depth stream to the video stream.</p>
  
  <p>Thanks,
  Tyro</p>