OmniRect

About

OmniRect MATLAB toolbox is a software implementing various rectification methods for omnidirectional image pairs. The toolbox is part of Master's Thesis `Stereo reconstruction from wide-angle images'. The thesis contains detailed explanation of several rectification methods as well as complete documentation of OmniRect toolbox.

Abstract

The thesis presents rectification methods of an omnidirectional stereo pair. Several methods are developed and a novel rectification method called stereographic rectification is introduced. In the second part of the thesis, a method of 3D reconstruction from a stereo pair rectified using an arbitrary method of the adduced methods is presented. Further, a method of judging the accuracy of an essential matrix based on the stereographic rectification is devised. At the end of the thesis, several examples of image pairs rectified by OmniRect MATLAB toolbox developed as a part of this work, are shown.

Keywords

omnidirectional camera, rectification, 3D reconstruction

The thesis can be downloaded as thesis.pdf (~5MB).

Documentation

The following listing shows the content of the distribution:

omnirect.m – Implementation of the Matlab function omnirect. The function omnirect only prepares data for the function orect.
orect.c – Implementation of the C function orect. The function orect does the actual computing.
demo.m – The demo script demonstrates the usage of the toolbox on several examples.
data/ – The directory data contains files necessary for the demo demonstration script.

The only entry point to the toolbox is the function omnirect. The input of the function is the image pair and various parameters, output is the rectified image pair. The following shows and explains how to call the Matlab function omnirect:

[rim1, rim2] = omnirect(im1, im2, calib1, calib2, F, rectfunc, affine, intfunc);

See the thesis, Appendix A, for the full documentation of the OmniRect toolbox.

Examples

This section shows an omnidirectional image pair rectified using all available methods of the OmniRect toolbox. See the thesis, Appendix B, for more examples of omnidirectional image pairs rectified using OmniRect.


Original omnidirectional image pair with several epipolar curves


Latitudal rectification (Spherical rectification)


Longitudal rectification (Swapped spherical rectification)


Bipolar rectification


Stereographic rectification

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