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:
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
So it was cropped as you can see
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
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?
