-
Notifications
You must be signed in to change notification settings - Fork 0
/
Parameters.m
28 lines (25 loc) · 1.14 KB
/
Parameters.m
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
clear all
close all
clc
%global d focalLength principalPoint imageSize reprojectionMatrix
d=0.2; %meters between left and right camera
global disparityswitch points3Dswitch ORBswitch
disparityswitch=1;
points3Dswitch=0;
ORBswitch=0;
% Stereo camera parameters , for real cameras I can use Using the Stereo
% Camera Calibrator App and Export Camera Parameters
focalLength = [1109, 1109]; % In pixels
principalPoint = [640, 360]; % In pixels [x, y]
imageSize = [720, 1280]; % In pixels [mrows, ncols]
baseline = d; % In meters
reprojectionMatrix = [1, 0, 0, -principalPoint(1);
0, 1, 0, -principalPoint(2);
0, 0, 0, focalLength(1);
0, 0, 1/baseline, 0];
% In this example, the images are already undistorted and rectified. In a general workflow,
% uncomment the following code to undistort and rectify the images.
% currILeft = undistortImage(currILeft, intrinsics);
% currIRight = undistortImage(currIRight, intrinsics);
% stereoParams = stereoParameters(intrinsics, intrinsics, eye(3), [-baseline, 0 0]);
% [currILeft, currIRight] = rectifyStereoImages(currILeft, currIRight, stereoParams, 'OutputView','full');