How do I transfer points from/to rectified images?

Question

Michael Helmberger 2016-2-1

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https://ww2.mathworks.cn/matlabcentral/answers/266065-how-do-i-transfer-points-from-to-rectified-images

回答： Leo Leo 2019-12-23

Hi,

I am using rectifyStereoImages to rectify a pair of images. How can I transfer the coordinates of a non-integer point between normal and rectified images? I tried it using the code below, however I do not get the correct coordinates (there is always an error of 1-2 pixels)..

    s = stereoParams.toStruct();
    H = projective2d(s.RectificationParams.H1);
    origin = [s.RectificationParams.XBounds(1), s.RectificationParams.YBounds(1)] - 1;
    pts_rectified = H.transformPointsForward(pts_in - repmat(origin, [size(pts_in,1) 1]));

thanks, michael