How to construct stereoParameters with intrinsic and extrinsic matrix?

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IDK Chen 2022-11-17

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此问题的直接链接

https://ww2.mathworks.cn/matlabcentral/answers/1853963-how-to-construct-stereoparameters-with-intrinsic-and-extrinsic-matrix

回答： Qu Cao 2022-11-21

I'm trying to reconstruct a 3D Scene from two images. Suppose camera has no distortions.

I have the images I1, I2 and the coressponding intrinsic_1, extrinsic_1, intrinsic_2, extrinsic_2 matrix. I also has the transaltion and rotation from camera1 to camera 2. How could I use them to construct a stereoParameters object? I found that cameraParameters has private attributes and extrinsic matrixs could not be set.

stereoParams = stereoParameters(cameraParameters1,cameraParameters2,poseCamera2)

[I1Rect, I2Rect, reprojectionMatrix] = rectifyStereoImages(I1,I2,stereoParams);

disparityMap = disparitySGM(I1Rect, I2Rect);

points3D = reconstructScene(disparityMap, reprojectionMatrix);

Or is it possible to figure out the reprojectionMatix directly using some functions with matched points inlierPts1 and inlierPts2?

[t1, t2] = estimateStereoRectification(fNorm8Point,inlierPts1.Location,inlierPts2.Location,size(I2));

reprojectionMatrix = some_function(t1, t2, intrinsic_1, extrinsic_1, intrinsic_2, extrinsic_2, rotations and translations between c1 to c2)

[I1Rect, I2Rect] = rectifyStereoImages(I1,I2,reprojectionMatrix);

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Answer 1

Qu Cao 2022-11-21

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此回答的直接链接

https://ww2.mathworks.cn/matlabcentral/answers/1853963-how-to-construct-stereoparameters-with-intrinsic-and-extrinsic-matrix#answer_1107528

在 MATLAB Online 中打开

poseCamera2 essentially transforms camera 2 to camer 1. If you have “the transaltion and rotation from camera1 to camera 2”, (let's call them t and R respectively), then you should be able to construct poseCamera2 as follows:

poseCamera2 = rigidtform3d(R', -R'*t)

I'm assuming that you're using R2022b.