rectifyStereoImages output looks twisted.

2 次查看(过去 30 天)
Hi, I have implemented rectifyStereoImages, but the result looks weird. Please look at the images attached. fig1 and 2 are the original files used. Here is my script.
left = webcam(3);
right = webcam(1);
I1 = snapshot(left);
figure(1)
imshow(I1);
I2 = snapshot(right);
figure(2)
imshow(I2);
[J1,J2]=rectifyStereoImages(I1,I2,stereoParams,'OutputView','full');
figure(3)
imshow(cat(3,J1(:,:,1),J2(:,:,2:3)),'InitialMagnification',50);

回答(2 个)

Astha Singh
Astha Singh 2018-8-31
Hi Sang,
You probably need to fine-tune the 'stereoParams' that you are using.
Most likely that is what is causing the anomaly.
I tried uncalibrated rectification using the two images that you have provided and was able to produce the following rectified image -
You can try this method using the MATLAB Documentation link - Uncalibrated Stereo Image Rectification.
Hope this helps!
  1 个评论
SANG GYU LEE
SANG GYU LEE 2018-8-31
编辑:SANG GYU LEE 2018-8-31
Astha! Thank you very much for your comment! My goal is to get the disparity map and the depth (distance) from a camera to an object. I saw the instruction about uncalibrated rectification for stereo vision, but I am not quite sure how https://www.mathworks.com/help/vision/examples/uncalibrated-stereo-image-rectification.html and https://www.mathworks.com/help/vision/examples/depth-estimation-from-stereo-video.html are used together.
So assuming that I have the raw images taken from two cameras, should I do the uncalibrated rectification first -> crop the overlapping parts from the two images -> run stereoCameraCalibrator? If so, doesn't uncalibrated rectification affect the depth value?

请先登录,再进行评论。


Subhash Variya
Subhash Variya 2021-6-27
Hello SANG, i have the same problem. do you have the solution now?

产品


版本

R2018a

Community Treasure Hunt

Find the treasures in MATLAB Central and discover how the community can help you!

Start Hunting!

Translated by