Stereo Calibration and Image Rectification

I'm trying to use the stereo camera calibrator to rectify a pair of stereo images. However, while the reprojection errors, extrinsic view, and reprojected points all look reasonable, the "show rectified" button just returns horizontal lines of various colors.

Similarly, attempting to use

[J1, J2] = rectifyStereoImages(I1, I2, stereoParams);

to rectify the stereo images returns a blank image:

Turning on 'OutputView' ,'full' :

% Rectify the images.
[J1, J2] = rectifyStereoImages(I1, I2, stereoParams, 'OutputView' ,'full');

shows the rectification is inverted:

I've attached my calibration images if they are of use. Thanks in advance for any help!

[Anil Horasan]

I was having a similar issue, then I figure out that my calibration parameters were wrong. That was because I subtracted 2 of my stereo pairs' HTM wrt a reference point instead of multiplying them. What a shame! I suggest you to check your camera calibration parameters (stereoParams).

Answer 1

[Dima Lisin]

Hi John,

You should check a couple of things. First, it looks like your checkerboard is a very short distance away from the cameras. In this case you do not need a wide baseline, so see if you can move the cameras closer together. Second, make sure that camera 1 is to the left of camera 2, as you face in the same direction as the cameras. This is not strictly necessary, but it makes things easier. Otherwise your disparity will be negative.

Once you get past this problem, see this answer, if you run into more issues.