Problem with rectifying images from a calibrated stereo-pair system
![](https://www.mathworks.com/matlabcentral/answers/uploaded_files/151713/image.jpeg)
![](https://www.mathworks.com/matlabcentral/answers/uploaded_files/151715/image.jpeg)
0 个评论
采纳的回答
2 个评论
- Get higher resolution cameras
- Measure the size of the checkerboard square very precisely (e. g. with a caliper). If you can measure it up to 0.1 mm, that can make a difference.
- Be sure not to use lossy compression on your images. Jpeg artifacts can affect the checkerboard corner detection accuracy. Ideally, set your cameras to acquire and store uncompressed images.
- Try different calibration settings. Try estimating tangential distortion and skew.
- If you have calibration images that result in a high reprojection error, try excluding them and re-calibrating.
更多回答(1 个)
Hi, i have the same problem. I have already asked this question here: https://de.mathworks.com/matlabcentral/answers/231808-problem-with-rectify-stereoimages
I cant move the cameras closer together or the object farther away, because i want a low distance error. I have 54 pictures of calibration pattern and the mean error is 0.1 pixel. The focal length is with around 150mm really high, because of the low distance error. It seems, that the problem is the function rectifyStereoImages.
If the outputview is "full" it shows the hole picture and the rectification is still good, but there is a big black space on each picture. calculating the disparity from this pictures is still hard and the result is really bad. On the picture below you can see the rectified pictures with horizontal lines witch shows, that the rectification process is still working.
![](/matlabcentral/answers/uploaded_files/77549/Rectifiziert_liniert.jpg)
and this is the best result from the disparity and the reconstructScene. The depth is too far away and a lot of points are on a plane.
![](/matlabcentral/answers/uploaded_files/77552/reconstructionscene_ergebnis.png)
If the outputview is "valid" it just shows the region, wich overlaps at infinity. You can see that on the left in the next picture, on the right is the "full" picture with the surroundet region wich is the output of "valid".
![](/matlabcentral/answers/uploaded_files/77553/outputview_valid.png)
Can anybody help me with this problem ? Or has a hint for calculating the disparity from the "full" pictures.
另请参阅
类别
Community Treasure Hunt
Find the treasures in MATLAB Central and discover how the community can help you!
Start Hunting!