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Image lengthening of 'rectifyStereoImages' function application results
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Hi. I apply 'rectifyStereoImages' function for rectify stereo image. But results are littlebit weird.
[J1, J2] = rectifyStereoImages(I1, I2, stereoParams, 'OutputView', 'full');
I ran just this code.
I1, I2`s size : 2592x1944, but J1, J2`s size 8704x2378. It`s too long and there is no effect changing the option 'OutputView', 'full' → 'vaild' or reverse.
My stereo camera system is each camera tilts 20 degrees, -20 degrees towards the center (the optical axis draws a V shape), is it common for the output image to be longer when this function is applied?
(first row : input image, second row : output image)
![](https://www.mathworks.com/matlabcentral/answers/uploaded_files/1424738/image.png)
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Song-Hyun Ji
2023-7-3
编辑:Song-Hyun Ji
2023-7-3
I am not sure what is your 'steroParams' but they would affect the result. Here is my test code.
ld = load('wideBaselineStereo');
leftImages = imageDatastore(fullfile(toolboxdir('vision'), 'visiondata', ...
'calibration', 'wideBaseline', 'left'));
rightImages = imageDatastore(fullfile(toolboxdir('vision'), 'visiondata', ...
'calibration', 'wideBaseline', 'right'));
[imagePoints, boardSize] = detectCheckerboardPoints(leftImages.Files, rightImages.Files);
squareSizeInMillimeters = 29;
worldPoints = generateCheckerboardPoints(boardSize, squareSizeInMillimeters);
stereoParams = estimateStereoBaseline(imagePoints, worldPoints, ...
ld.intrinsics1, ld.intrinsics2);
figure; showReprojectionErrors(stereoParams)
I1 = readimage(leftImages, 1);
I2 = readimage(rightImages, 1);
[J1,J2] = rectifyStereoImages(I1,I2,stereoParams,'OutputView','full');
imshow(J1);
![](https://www.mathworks.com/matlabcentral/answers/uploaded_files/1424763/image.png)
6 个评论
Song-Hyun Ji
2023-7-7
It is necessary to rectify the input images I1 and I2. Rectification ensures that corresponding points in the stereo pair image are aligned along the same rows. To rectify the input stereo pair image, you can utilize the rectifyStereoImages function. It is important to note that the reference image must remain consistent for both rectification and disparity map computation.
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