Recitfy Images before triangulate points
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Hello, I have a question regarding the new triangulate function. I have 2 almost parallel cameras and would like to run a triangulation of certain points in the image. Do i have to rectify these images before extracting the matching points or do I extract the points of the original image?
Thank you
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The matlab function uses the cameramatrix and undistorted images. So you should not use both of the image. You should create first a undistorted image.
uImage1 = undistortImage(Image1,stereoParams.CameraParameters1);
uImage2 = undistortImage(Image2,stereoParams.CameraParameters2);
point3d = triangulate(pointImage1, pointImage2, stereoParams);
6 个评论
hochers
2015-7-3
Joep
2015-7-3
Sorry i was wrong about that i changed my comment. A example is explained here: http://nl.mathworks.com/help/vision/ref/triangulate.html
hochers
2015-7-3
Joep
2015-7-3
I guess so because you expect that you should rectify, to make the epipolar lines parrellel. So you can use triangulate but in example they don't rectify so I assume it is in the function it self indeed.
Dima Lisin
2015-7-7
You should undistort the images before using triangulate, but you should not rectify them. The triangulate function uses the linear triangulation algorithm from Hartley and Zisserman, which does not require the images to be rectified.
Federico Perrotta
2018-11-17
Hi Dima Lisin,
I' m very interested in your comment. Could you explain me how the triangulation is possible without a rectification procedure? Does it follow that every stereo configuration would be possible to reconstruct 3D points?
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