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stereoRectify problems

asked 2015-08-27 09:57:35 -0500

mrhxxh gravatar image

updated 2015-08-28 02:21:49 -0500

Hi. I'm working with SFM results. I've calculated orientation params for each camera, undistorted images and selected some stereopairs. Now I would like to calculate rectification for each stereopair.

left and right images: image description

image description

At first rotatation between camera 1 & 2 using quaternion approach: rot_q = q2*q1.inverse();

translation T = C2 - C1, where Cx - camera centers.

Then

stereoRectify(K1, D, K2, D, img1.size(), R12, T, OR1, OR2, OP1, OP2, OQ, 0);

where Kx - camera matrix & D - distortion vector with zero values. and

initUndistortRectifyMap(K1, D, OR1, OP1, img1.size(), CV_32FC1, MX1, MY1); initUndistortRectifyMap(K2, D, OR2, OP2, img2.size(), CV_32FC1, MX2, MY2);

and in conclusion

remap(img1, rect_img_left, MX1, MY1, INTER_CUBIC); remap(img2, rect_img_right, MX2, MY2, INTER_CUBIC);

But result seems to be not absolutely correct

image description

So it was cropped as you can see

image description image description

and an Y shift between corresponding epipolines approx 5 pixels

Also, I've tried to build rectification using fundamental matrix & stereoRectifyUncalibrated, because I know corresponding points between images. For this scene it works fine image description

But for some projects (uav images for example) I've got heavy distortions after warping and in general it must be more correctly to use the first approach. Any ideas?

Upd. Input matrices by the link https://www.dropbox.com/s/aryl0k5j4o0...

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your images do not show up. would you try again ?

berak gravatar imageberak ( 2015-08-27 10:37:12 -0500 )edit

check again

mrhxxh gravatar imagemrhxxh ( 2015-08-27 10:59:37 -0500 )edit

still nada.

berak gravatar imageberak ( 2015-08-27 11:07:03 -0500 )edit

hope this works

mrhxxh gravatar imagemrhxxh ( 2015-08-27 11:20:06 -0500 )edit

yep ;) (pretty large, but visible !)

berak gravatar imageberak ( 2015-08-27 11:30:37 -0500 )edit

Upoaded input matrieces for the first approach

mrhxxh gravatar imagemrhxxh ( 2015-08-28 02:22:38 -0500 )edit

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answered 2015-08-31 09:59:37 -0500

mrhxxh gravatar image

Have implemented stereorecification algo based on Andrea Fusiello rectification toolkit. Works fine. Looks like ocv stereoRectify works only with data after stereocalibrate.

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Asked: 2015-08-27 09:57:35 -0500

Seen: 725 times

Last updated: Aug 28 '15