Rectification with unconstrained stereo geometry
Andrea Fusiello, Emanuele Trucco, Alessandro Verri · 1997
We present a linear rectification algorithm for general, unconstrained stereo rigs. The algorithm takes the two perspective projection matrices of the original cameras, and computes a pair of rectifying projection matrices. We report tests proving the correct behaviour of our method, as well as the negligible decrease of the accuracy of 3-D reconstruction if performed from the rectified images directly. To maximise reproducibility and usefulness, we give a working, 20-line MATLAB code, and a URL where the code can be found. Stereo reconstruction systems are very popular in vision research and applications, hence the usefulness of a general and easily accessible rectification algorithm. 1 Introduction and motivations Given a pair of stereo images, rectification determines a transformation of each image plane such that pairs of conjugate epipolar lines become collinear and parallel to one of the image axes. The rectified images can be thought of as acquired by a new stereo rig, obtaine...