Stereo Vision

Stereo rectification, disparity, and dense 3-D reconstruction

Stereo vision is the process of recovering depth from camera images by comparing two or more views of the same scene. The output of this computation is a 3-D point cloud, where each 3-D point corresponds to a pixel in one of the images.

Stereo image rectification projects images onto a common image plane in such a way that the corresponding points have the same row coordinates. This process is useful for stereo vision, because the 2-D stereo correspondence problem reduces to a 1-D problem. As an example, stereo image rectification is often used as a pre-processing step for computing disparity or creating anaglyph images.


Camera Calibrator Estimate geometric parameters of a single camera
Stereo Camera Calibrator Estimate geometric parameters of a stereo camera


bundleAdjustment Refine camera poses and 3-D points
cameraMatrix Camera projection matrix
cameraPose Compute relative rotation and translation between camera poses
disparity Disparity map between stereo images
estimateCameraParameters Calibrate a single or stereo camera
estimateFundamentalMatrix Estimate fundamental matrix from corresponding points in stereo images
estimateGeometricTransform Estimate geometric transform from matching point pairs
estimateUncalibratedRectification Uncalibrated stereo rectification
rectifyStereoImages Rectify a pair of stereo images
reconstructScene Reconstruct 3-D scene from disparity map
rotationMatrixToVector Convert 3-D rotation matrix to rotation vector
rotationVectorToMatrix Convert 3-D rotation vector to rotation matrix
stereoAnaglyph Create red-cyan anaglyph from stereo pair of images
triangulate 3-D locations of undistorted matching points in stereo images
triangulateMultiview 3-D locations of undistorted points matched across multiple images
undistortImage Correct image for lens distortion
undistortPoints Correct point coordinates for lens distortion
pcshow Plot 3-D point cloud
plotCamera Plot a camera in 3-D coordinates


cameraParameters Object for storing camera parameters
cameraCalibrationErrors Object for storing standard errors of estimated camera parameters
intrinsicsEstimationErrors Object for storing standard errors of estimated camera intrinsics and distortion coefficients
extrinsicsEstimationErrors Object for storing standard errors of estimated camera extrinsics
stereoParameters Object for storing stereo camera system parameters
stereoCalibrationErrors Object for storing standard errors of estimated stereo parameters
viewSet Object for managing data for structure-from-motion and visual odometry
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