Omni Recover 3.4.6
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Another thing you should input is the size of images. The file opencv_contrib/modules/ccalib/tutorial/data/omni_calib_data.xml stores an example of objectPoints, imagePoints and imageSize. Use the following code to load them:
Stereo calibration is to calibrate two cameras together. The output parameters include camera parameters of two cameras and the relative pose of them. To recover the relative pose, two cameras must observe the same pattern at the same time, so the objectPoints of two cameras are the same.
Omnidirectional images have very large distortion, so it is not compatible with human's eye balls. For better view, rectification can be applied if camera parameters are known. Here is an example of omnidirectional image of 360 degrees of horizontal field of view.
It can be observed that perspective rectified image perserves only a little field of view and is not goodlooking. Cylindrical rectification preserves all field of view and scene is unnatural only in the middle of bottom. The distortion of stereographic in the middle of bottom is smaller than cylindrical but the distortion of other places are larger, and it can not preserve all field of view. For images with very large distortion, the longitude-latitude rectification does not give a good result, but it is available to make epipolar constraint in a line so that stereo matching can be applied in omnidirectional images.
Stereo reconstruction is to reconstruct 3D points from a calibrated stereo camera pair. It is a basic problem of computer vison. However, for omnidirectional camera, it is not very popular because of the large distortion make it a little difficult. Conventional methods rectify images to perspective ones and do stereo reconstruction in perspective images. However, the last section shows that recifying to perspective images lose too much field of view, which waste the advantage of omnidirectional camera, i.e. large field of view.
Here variable flag indicates the recectify type, only RECTIFY_LONGLATI(recommend) and RECTIFY_PERSPECTIVE make sense. numDisparities is the max disparity value and SADWindowSize is the window size of cv::StereoSGBM. pointType is a flag to define the type of point cloud, omnidir::XYZRGB each point is a 6-dimensional vector, the first three elements are xyz coordinate, the last three elements are rgb color information. Another type omnidir::XYZ means each point is 3-dimensional and has only xyz coordiante.
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