UNDISTORT STEREO Images before RECTIFICATION ?

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Sukhendu
Sukhendu 2024-8-22
回答： Sukhendu 2024-8-23
This is a query reg. Stereo Rectification using Matlab inbuilt functions
Does one need to :
UNDISTORT the STEREO Images before RECTIFICATION ?
My pair of views are near-perfect, but has large disparity.
Using stereo-Calibration, I get the distortion parameters as (given below for only one of the cameras):
RadialDistortion:
[-0.163 0.0958]
TangentialDistortion:
~ [ 0, 0];
Skew: -0.600.
The 3D back-projected results appear OK, but I am looking for high accuracy. Hence the query.
Any useful advise will be beneficial (thanx in advance, for that)

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Sukhendu
Sukhendu 2024-8-23
Thanx a lot.
Your assumptions of functions (stereoCameraCalibrator, followed by rectifyStereoImage) being used are correct.
The disparity is so high that I cannot use disparitySGM or disparityBM functions.
Wrote my own stuff, using ORB/SIFT based correspondences.
I am truely not interested in full scene 3D reconstruction from stereo now, rather estimating 3D Coordinates of few landmark points in the images, with extremely high accuracy.

更多回答（1 个）

Abhinav Aravindan
Abhinav Aravindan 2024-8-23
Hi @Sukhendu
I assume you are using the “rectifyStereoImages” function for Stereo Image Rectification. In this case, it is not required to undistort your image in prior as the function automatically handles both undistortion and rectification using the stereo calibration parameters you have obtained.
https://www.mathworks.com/help/vision/ref/rectifystereoimages.html#:~:text=rectifyStereoImages(I1%2CI2%2CstereoParams)%20undistorts%20and%20rectifies%20versions%20of%20I1%20and%20I2%20input%20images%20using%20the%20stereo%20parameters%20of%20a%20stereo%20camera%20system%20stored%20in%20the%20stereoParams%20object
To improve your 3D screen reconstruction results, you may try out the following suggestions present in the below link:
https://www.mathworks.com/matlabcentral/answers/153348
I hope this answers your query!

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