diff options
Diffstat (limited to 'macros/rectifyStereoImages.sci~')
| -rw-r--r-- | macros/rectifyStereoImages.sci~ | 59 |
1 files changed, 59 insertions, 0 deletions
diff --git a/macros/rectifyStereoImages.sci~ b/macros/rectifyStereoImages.sci~ new file mode 100644 index 0000000..2cd9c54 --- /dev/null +++ b/macros/rectifyStereoImages.sci~ @@ -0,0 +1,59 @@ +function [out]=rectifyStereoImages(input_image1,cameramatrix1,Distortion_coff1,input_image2,cameramatrix2,Distortioncoff2,Translationvector,Rotationvector) +// Rectify the pair of image taken by stereo camera +// +// Calling Sequence +// [left_image,right_image] = rectifyStereoImages (input_image1,cameramatrix1,Distortion_coff1,input_image2,cameramatrix2,Distortioncoff2,Translationvector,Rotationvector) +// left_image = rectified input_image1 +// right_image = rectified input_image2 +// +// Parameters +// +// input_image1 : First Stereo image on which rectification has to be performed +// Cameramatrix1 : An input matrix of 3*3 +// Distortion_coff1 : A vector of size 4 ,5 or 8 +// input_image2 : Second Stereo image on which rectification has to be performed +// Cameramatrix2 : An input matrix of 3*3 +// Distortion_coff2 : A vector of size 4 ,5 or 8 +// Translationvector : A vector of size 3 +// Rotationvector : An input matrix of 3*3 +// left_image : rectified input_image1 +// right_image : rectfied input_image2 +// +// Description +// This function first undistorted and then rectified the both image1 and image2.It uses camera parameters,respective rotation,translation of both camera. +// +// Examples +// a = imread('lena.jpeg') +// cameramatrix1 = [1 0 1;0 1 1;0 0 1]; +// Distortion_coff1 = [200 200 400 300]; +// b = imread('lena.jpeg') +// cameramatrix2 = [2 0 1;0 1 1;0 0 1]; +// Distortion_coff2 = [205 240 410 370]; +// Translationvector = [1 2 3]; +// Rotationvector = [0 0 2;1 4 5;6 7 8]; +// [left_image,right_image] = rectifyStereoImages(a,cameramatrix1,Distortion_coff1,b,cameramatrix2,Distortioncoff2,Translationvector,Rotationvector); +// imshow(left_image); +// imshow(right_image); +// +// Authors. +// +//Diwakar Bhardwaj + + input_image3=mattolist(input_image1); + input_image4=mattolist(input_image2); + [left_image right_image]=rectifyStereoImages(input_image3,cameramatrix1,Distortion_coff1,input_image4,cameramatrix2,Distortioncoff2,Translationvector,Rotationvector); + + dimension1=size(left_image) + for i = 1:dimension1 + left_out(:,:,i)=left_image(i); + end + + dimension2=size(right_image) + for j = 1:dimension2 + right_out(:,:,j)=right_image(j); + end + + + out=struct("left_rectifyimage",left_out,"right_rectifyimage",right_out); + +endfunction;* |