In Open, I have calibrated my cameras using stereo calibration function. then I have rectification left and right images. Until now, everything is working well.
But I don't know how to get the principal points of images for the left and right camera. I need them for triangulation the features from left and right images.
I have extrinsic and intrinsic parameters of the camera but I don't know how to calculate these principal points of rectified image.
When you do rectification you get projection matrix in the new (rectified) coordinate systems, P(0, 2) and P(1, 2) should correspond to cx and cy(principal points) . Proof: P = [KR, -Kt], since rectified therefore R = I , hence P = [K, -Kt].