matlab rectify,Rectify a pair of stereo images

rectifyStereoImages

Rectify a pair of stereo images

Description

[J1,J2]

= rectifyStereoImages(I1,I2,stereoParams) returns

undistorted and rectified versions of I1 and I2 input

images using the stereo parameters stored in the stereoParams object.

Stereo image rectification projects images onto a common image plane in such a way that the

corresponding points have the same row

coordinates. This image projection makes the image

appear as though the two cameras are parallel. Use

the disparityBM or disparitySGM functions to compute a

disparity map from the rectified images for 3-D

scene reconstruction.

[J1,J2]

= rectifyStereoImages(I1,I2,tform1,tform2) returns

rectified versions of I1 and I2 input

images by applying projective transformations tform1 and tform2.

The projective transformations are returned by the estimateUncalibratedRectification function.

[J1,J2]

= rectifyStereoImages(___,interp) additionally

specifies the interpolation method to use for rectified images. You

can specify the method as 'nearest', 'linear',

or 'cubic'.

[J1,J2]

= rectifyStereoImages(___,Name,Value) uses

additional options specified by one or more Name,Value pair

arguments.

Examples

Rectify Stereo Images

Specify images containing a checkerboard for calibration.

imageDir = fullfile(toolboxdir('vision'),'visiondata', ...

'calibration','stereo');

leftImages = imageDatastore(fullfile(imageDir,'left'));

rightImages = imageDatastore(fullfile(imageDir,'right'));

Detect the checkerboards.

[imagePoints,boardSize] = detectCheckerboardPoints(...

leftImages.Files,rightImages.Files);

Specify world coordinates of checkerboard keypoints.

squareSizeInMillimeters = 108;

worldPoints = generateCheckerboardPoints(boardSize,squareSizeInMillimeters);

Read in the images.

I1 = readimage(leftImages,1);

I2 = readimage(rightImages,1);

imageSize = [size(I1,1),size(I1,2)];

Calibrate the stereo camera system.

stereoParams = estimateCameraParameters(imagePoints,worldPoints, ...

'ImageSize',imageSize);

Rectify the images using 'full' output view.

[J1_full,J2_full] = rectifyStereoImages(I1,I2,stereoParams, ...

'OutputView','full');

Display the result for 'full' output view.

figure;

imshow(stereoAnaglyph(J1_full,J2_full));

Rectify the images using 'valid' output view. This is most suitable for computing disparity.

[J1_valid,J2_valid] = rectifyStereoImages(I1,I2,stereoParams, ...

'OutputView','valid');

Display the result for 'valid' output view.

figure;

imshow(stereoAnaglyph(J1_valid,J2_valid));

Input Arguments

I1 — Input image 1

M-by-N-by-3 truecolor

image | M-by-N 2-D grayscale

image

Input image corresponding to camera 1, specified as an M-by-N-by-3

truecolor image or an M-by-N 2-D

grayscale array. Input images I1 and I2 must

also be real, finite, and nonsparse. The input images must be the

same class.

Data Types:uint8 | uint16 | int16 | single | double | logical

I2 — Input image 2

M-by-N-by-3 truecolor

image | M-by-N 2-D truecolor

image

Input image corresponding to camera 2, specified as an M-by-N-by-3

truecolor image or an M-by-N 2-D

grayscale array. Input images I1 and I2 must

be real, finite, and nonsparse. The input images must also be the

same class.

Data Types:uint8 | uint16 | int16 | single | double | logical

stereoParams — Stereo camera system parameters

stereoParameters object

Stereo camera system parameters, specified as a stereoParameters object.

Data Types:uint8 | uint16 | int16 | single | double

tform1 — Projective transformation

3-by-3 matrix | projective2d object

Projective transformations for image 1, specified as a 3-by-3 matrix returned by the estimateUncalibratedRectification function or a projective2d object.

tform2 — Projective transformation

3-by-3 matrix | projective2d object

Projective transformations for image 2, specified as a 3-by-3 matrix returned by the estimateUncalibratedRectification function or a projective2d object.

interp — Interpolation method

'linear' (default) | 'nearest' | 'cubic'

Interpolation method, specified as either 'linear',

'nearest', or

'cubic'.

Name-Value Pair Arguments

Specify optional

comma-separated pairs of Name,Value arguments. Name is

the argument name and Value is the corresponding value.

Name must appear inside quotes. You can specify several name and value

pair arguments in any order as

Name1,Value1,...,NameN,ValueN.Example:'OutputView', 'valid' sets the

'OutputView' property to

'valid'.

'OutputView' — Size of rectified images

'valid' (default) | 'full'

Size of rectified images, specified as the comma-separated pair consisting of

'OutputView' and either

'full' or

'valid'. When you set this

parameter to 'full', the

rectified images include all pixels from the

original images. When you set this value to

'valid', the output images are

cropped to the size of the largest common

rectangle containing valid pixels.

When there is no overlap between rectified images, set the OutputView to 'full'.

'FillValues' — Output pixel fill values

array of scalar values

Output pixel fill values, specified as the comma-separated pair

consisting of 'FillValues' and an array of one

or more scalar values. When the corresponding inverse-transformed

location in the input image is completely outside the input image

boundaries, use the fill values for output pixels. If I1 and I2 are

2-D grayscale images, then you must set 'FillValues'

to a scalar. If I1 and I2 are

truecolor images, then you can set 'FillValues'

to a scalar or a 3-element vector of RGB values.

Output Arguments

J1 — Undistorted and rectified image 1

M-by-N-by-3 truecolor

image | M-by-N 2-D grayscale

image

Undistorted and rectified version of I1,

returned as an M-by-N-by-3 truecolor

image or as an M-by-N 2-D grayscale

image.

Stereo image rectification projects images onto a common image plane in such a way that the

corresponding points have the same row

coordinates. This image projection makes the image

appear as though the two cameras are parallel. Use

the disparityBM or disparitySGM functions to compute a

disparity map from the rectified images for 3-D

scene reconstruction.

J2 — Undistorted and rectified image 2

M-by-N-by-3 truecolor

image | M-by-N 2-D grayscale

image

Undistorted and rectified version of I2,

returned as an M-by-N-by-3 truecolor

image or as an M-by-N 2-D grayscale

image.

Stereo image rectification projects images onto a common image plane in such a way that the

corresponding points have the same row

coordinates. This image projection makes the image

appear as though the two cameras are parallel. Use

the disparityBM or disparitySGM functions to compute a

disparity map from the rectified images for 3-D

scene reconstruction.

Tips

The

Computer Vision Toolbox™ rectification algorithm requires

that the epipole for each image lie outside of the

image. If the epipole lies within the image, you

can first transform the images into polar

coordinates as described in the rectification

method proposed by Marc Pollefeys, Reinhard Koch,

and Luc Van Gool [2].

References

[1] G. Bradski and A. Kaehler, Learning OpenCV

: Computer Vision with the OpenCV Library. Sebastopol,

CA: O'Reilly, 2008.

Extended Capabilities

C/C++ Code Generation

Generate C and C++ code using MATLAB® Coder™.

Usage notes and limitations:

Use in a MATLAB Function block is not supported.

'interp' and 'OutputView' must

be compile-time constants.

To generate code, use the toStruct function to pass stereoParameters to the

rectifyStereoImages

function.

Introduced in R2014a