Rectification problem stereo vision

asked 2013-12-11 09:53:33 -0500

ed3dalltime gravatar image

Hello everybody.

I have a problem with my code. I am trying create a 3d model with stereo vision. With one of the two test dataset, everything works fine and I am able to build the 3d model. With the second dataset I have some problem in the rectification.

here there is for example the normal left image: image description

Here the rectified image: image description

And here the code for calibration and rectification:

cv::stereoCalibrate(objectPoints, imagePoints_l, imagePoints_r,
        cameraMatrix_l, distCoeffs_l, cameraMatrix_r, distCoeffs_r,
        imageSize, R, T, E, F, TermCriteria(CV_TERMCRIT_ITER + CV_TERMCRIT_EPS, 100, 1e-5),
        CV_CALIB_FIX_INTRINSIC);

where I set CV_CALIB_FIX_INTRINSIC because I calibrated separately the two cameras.

cv::stereoRectify(cameraMatrix_l, distCoeffs_l, cameraMatrix_r, distCoeffs_r, imageSize, R, T, R1, R2, P1, P2, Q, 0, 0);

For stereo rectification.

remap(leftImg, undistortedLeftImg, map1_l, map2_l, INTER_LINEAR);
remap(rightImg, undistortedRightImg, map1_r, map2_r, INTER_LINEAR);

For remapping

Is it possible that the wrong rectifications depends on low quality calibration images?

Thank you very much!!

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