Python OpenCV&；3D重建：为什么来自InitUnderTortyMap（）的map1有维度（x，y，2）？

上下文

根据OpenCV文档，我正在玩立体视觉。我已经完成了

stereorective（）

之前的所有工作。我找到了信息，下一步是从

initunorticrectitymap（）

获取贴图，然后用我将要处理的图像重新映射它们

问题

retL, mtxL, distL, rvecsL, tvecsL = cv2.calibrateCamera(objpoints, imgpointsL, grayL.shape[::-1], None, None)
retR, mtxR, distR, rvecsR, tvecsR = cv2.calibrateCamera(objpoints, imgpointsR, grayR.shape[::-1], None, None)
retval, camMat1, dCoeffs1, camMat2, dCoeffs2, R, T, E, F = cv2.stereoCalibrate(objpoints, imgpointsL, imgpointsR,
                                                                               mtxL, distL, mtxR, distR,
                                                                               grayL.shape[::-1], flags=cv2.CALIB_FIX_INTRINSIC)

R1, R2, P1, P2, Q, roi1, roi2 = cv2.stereoRectify(camMat1, dCoeffs1, camMat2, dCoeffs2, grayL.shape[::-1], R, T)
map1, map2 = cv2.initUndistortRectifyMap(camMat1, dCoeffs1, R, P1, (360, 640), cv2.CV_16SC2)

我不知道为什么

initunorticrectitymap（）

会返回大小类似（y，x，2）的map1，在我的例子中，x和y是img维度（x=360，y=640）。map2是（y，x），看起来很好

代码

retL, mtxL, distL, rvecsL, tvecsL = cv2.calibrateCamera(objpoints, imgpointsL, grayL.shape[::-1], None, None)
retR, mtxR, distR, rvecsR, tvecsR = cv2.calibrateCamera(objpoints, imgpointsR, grayR.shape[::-1], None, None)
retval, camMat1, dCoeffs1, camMat2, dCoeffs2, R, T, E, F = cv2.stereoCalibrate(objpoints, imgpointsL, imgpointsR,
                                                                               mtxL, distL, mtxR, distR,
                                                                               grayL.shape[::-1], flags=cv2.CALIB_FIX_INTRINSIC)

R1, R2, P1, P2, Q, roi1, roi2 = cv2.stereoRectify(camMat1, dCoeffs1, camMat2, dCoeffs2, grayL.shape[::-1], R, T)
map1, map2 = cv2.initUndistortRectifyMap(camMat1, dCoeffs1, R, P1, (360, 640), cv2.CV_16SC2)