Rectifying stereo images

Contents

1. Theory
2. In practice: step by step procedure with MRPT
3. Example C++ code
4. A complete example

1. Theory

See the documentation from Willow Garage’s OpenCV for

The following video (view on YouTube) illustrates the effects of each of these parameters:

2. In practice: step by step procedure with MRPT

See docs for the class: mrpt::vision::CStereoRectifyMap

3. Example C++ code

mrpt::vision::CStereoRectifyMap   rectify_map;
// Set options as desired:
// rectify_map.setAlpha(...);
// rectify_map.enableBothCentersCoincide(...); 

while (true) {
  // Grab stereo observation from wherever
  mrpt::slam::CObservationStereoImagesPtr obs_stereo = ... 

  // Only once, construct the rectification maps:
  if (!rectify_map.isSet()) 
    rectify_map.setFromCamParams(*obs_stereo);

  // Rectify in place:
  unmap.rectify(*obs_stereo);
  // Rectified images are now in: obs_stereo-&gt;imageLeft &amp; obs_stereo-&gt;imageRight
}

mrpt::vision::CStereoRectifyMap rectify_map;

// Set options as desired:

// rectify_map.setAlpha(...);

// rectify_map.enableBothCentersCoincide(...);

while (true) {

// Grab stereo observation from wherever

mrpt::slam::CObservationStereoImagesPtr obs_stereo = ...

// Only once, construct the rectification maps:

if (!rectify_map.isSet())

rectify_map.setFromCamParams(*obs_stereo);

// Rectify in place:

unmap.rectify(*obs_stereo);

// Rectified images are now in: obs_stereo->imageLeft & obs_stereo->imageRight

}

4. A complete example

See the example: /samples/stereoRectify