Remove black borders after undistortion

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C++

OpenCV

camera

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Hallo,

after calibration and undistortion using opencv, I have this image and I need to remove the black borders(crop the image)only depending on the camera parameters which I have in the output XML file so how I can define the region of interest?

https://picasaweb.google.com/118430866477186313381/25Februar2014#5984243944425984322[^]

<Camera_Matrix type_id="opencv-matrix">
  <rows>3</rows>
  <cols>3</cols>
  <dt>d</dt>
  <data>
    1.3117098501208040e+003 0. 6.9550000000000000e+002 0.
    1.3117098501208040e+003 520. 0. 0. 1.</data></Camera_Matrix>
<Distortion_Coefficients type_id="opencv-matrix">
  <rows>5</rows>
  <cols>1</cols>
  <dt>d</dt>
  <data>
    -2.1400301530776253e-001 4.6169624608789456e-002 0. 0.
    1.8396036701643875e-001</data></Distortion_Coefficients>
<Avg_Reprojection_Error>3.6924789370054928e-001</Avg_Reprojection_Error>
<Per_View_Reprojection_Errors type_id="opencv-matrix">
  <rows>16</rows>
  <cols>1</cols>
  <dt>f</dt>
  <data>
    3.56106251e-001 3.05902541e-001 3.21639299e-001 3.97623330e-001
    4.79688823e-001 3.31597805e-001 2.92068005e-001 3.66955608e-001
    3.19793940e-001 6.19786203e-001 4.36506212e-001 3.26359451e-001
    3.68108034e-001 2.78367579e-001 2.72553772e-001 2.62321293e-001</data></Per_View_Reprojection_Errors>
<!-- a set of 6-tuples (rotation vector + translation vector) for each view -->
<Extrinsic_Parameters type_id="opencv-matrix">
  <rows>16</rows>
  <cols>6</cols>
  <dt>d</dt>
  <data>
    8.2524798674623173e-002 1.1957588136538763e-002
    -5.2492873372617030e-002 -8.7280621973657318e+001
    -3.9451553914075618e+001 5.7852359123958058e+002
    -2.0676032091414645e-001 -6.0286278602077602e-002 ...
    <Image_points type_id="opencv-matrix">
  <rows>16</rows>
  <cols>54</cols>
  <dt>"2f"</dt>
  <data>
    4.99537811e+002 4.31490295e+002 5.57311035e+002 4.28100739e+002
    6.15545166e+002 4.24772125e+002 6.74481750e+002 4.21481506e+002
    7.33297974e+002 4.18324432e+002 7.91958740e+002 4.15214600e+002
    8.51019897e+002 4.12198181e+002 9.09479858e+002 4.09300568e+002
    9.67362793e+002 4.06486938e+002 5.02951508e+002 4.89633362e+002
...