Direct Stereo Rectification

Here you can find the algorithm for stereo rectification. This algorithm computes the rectifying homographies that minimize perspective distortion.

Our method does not use optimisation libraries and provides a closed-form solution. It is an improvement of the approach originally introduced by Charles Loop and Zhengyou Zhang in “Computing rectifying homographies for stereo vision” (1999), DOI: 10.1109/CVPR.1999.786928.

Video presentation YouTube link.

Full details in our paper:

Lafiosca, P., Ceccaroni, M. (2022). Rectifying Homographies for Stereo Vision: Analytical Solution for Minimal Distortion. In: Arai, K. (eds) Intelligent Computing. SAI 2022. Lecture Notes in Networks and Systems, vol 507. Springer, Cham. https://doi.org/10.1007/978-3-031-10464-0_33

Pre-print available here.

Please, if you find this useful, cite as:

@inproceedings{LafioscaDirectStereoRectification,
    author  = {Lafiosca, Pasquale and Ceccaroni, Marta},
    title   = {Rectifying Homographies for Stereo Vision: Analytical Solution for Minimal Distortion},
    year    = {2022},
    journal = {Lecture Notes in Networks and Systems},
    booktitle = {Intelligent Computing},
    isbn    = {978-3-031-10464-0},
    volume  = {507},
    pages   = {484--503},
    doi     = {10.1007/978-3-031-10464-0_33},
    url     = {https://doi.org/10.1007/978-3-031-10464-0_33},
    publisher = {Springer International Publishing}
}

Dependencies

• Python 3 (tested with version 3.8.2)
• NumPy (tested with version 1.18.2)

Install as:

pip3 install numpy

OpenCV is required for the example only. You can install it with:

pip3 install opencv-contrib-python

Usage

Try it with:

python3 example.py

Refer to comments in example.py and rectification.py.

Disclamer

The code is provided "as is" wihout any warranty. For details see LICENSE file.