Recitfy Images before triangulate points

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hochers
hochers 2015-7-3
评论： Federico Perrotta 2018-11-17
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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Joep
Joep 2015-7-3
编辑：Joep 2015-7-3
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);
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Dima Lisin
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
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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