in @stereoCalibrate()@, stereoCalibrate(), even if @CV_CALIB_RATIONAL_MODEL@ "CV_CALIB_RATIONAL_MODEL" is not set, I still get 9 distortion params(camera 2 only ). While for the first camera, there's just 5 distortion params. Although this may not influence the rectify step much, I think it's a bug.
By the way, @stereoRectify()@ stereoRectify() doesn't converge to a good result. While @stereoRectifyUncalibrated()@ stereoRectifyUncalibrated() do work. But when I use undistorted image (see code below which follows the sample in @stereo_calib.cpp@), stereo_calib.cpp), even @stereoRectifyUncalibrated()@ stereoRectifyUncalibrated() does not work. I think the stability of the alg. should be improved impoved and a step to check whether the result is valid is needed. Tks.

<pre><code class="cpp">
@ vector<Point2f> allimgptUndistorted[2];

for (int k=0;k<2;k++){

undistort(allimgpt[k],allimgptUndistorted[k],cameraMatrix[k],distCoeffs[k]);

allimgpt[k]=allimgptUndistorted[k];
}
</code></pre>
}@

The images I used are given in the attachments.