irectify

Rectify stereo image pair

[out1,out2] = irectify(f, m, im1, im2) is a rectified pair of images corresponding to im1 and im2. f (3x3) is the fundamental matrix relating the two views and m is a FeatureMatch object containing point correspondences between the images.

[out1,out2,h1,h2] = irectify(f, m, im1, im2) as above but also returns the homographies h1 and h2 that warp im1 to out1 and im2 to out2 respectively.

Notes

• The resulting image pair are epipolar aligned, equivalent to the view if the two original camera axes were parallel.
• Rectified images are required for dense stereo matching.
• The effect of lense distortion is not removed, use the camera calibration toolbox to unwarp each image prior to rectification.
• The resulting images may have negative disparity.
• Some output pixels may have no corresponding input pixels and will be set to NaN.

See also

FeatureMatch, istereo, homwarp, CentralCamera

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