matlab rectify,rectify2.m · zigzag2015/machinevision-toolbox-matlab - Gitee.com

% Copyright (C) 1993-2011, by Peter I. Corke

%

% This file is part of The Machine Vision Toolbox for Matlab (MVTB).

%

% MVTB is free software: you can redistribute it and/or modify

% it under the terms of the GNU Lesser General Public License as published by

% the Free Software Foundation, either version 3 of the License, or

% (at your option) any later version.

%

% MVTB is distributed in the hope that it will be useful,

% but WITHOUT ANY WARRANTY; without even the implied warranty of

% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the

% GNU Lesser General Public License for more details.

%

% You should have received a copy of the GNU Leser General Public License

% along with MVTB. If not, see .

function imr = rectify(F, imL, imR)

% set the center of the transform

x0 = [numcols(imL) numrows(imL)] / 2;

T = [1 0 -x0(1); 0 1 -x0(2); 0 0 1]

T

disp('original epipole');

eh = null(F');

e = h2e(eh)

disp('translated epipole');

eth = T*eh;

e = h2e(eth)

tt = -(e(2)) / (e(1));

ct = cos(atan(tt));

R = [1 -tt 0 ; tt 1 0; 0 0 1/ct];

R

disp('translated rotated epipole')

erth = R*eth;

e = h2e(erth)

f = e(1)

G = [1 0 0; 0 1 0; -1/f 0 1];

H = G * R * T;

G

R

T

H

%rectif = imTrans(imL, H);

rectif = imTrans(imR, H);

rectif = rectif(1:numrows(imL),:);

%stview(rectif, imR);

stview(imL, rectif);

disp('final epipole');

eph = null(F')

end

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