Computer Vision System Toolbox
Stereo vision is the process of extracting the 3D structure of a scene from multiple 2D views.
Computer Vision System Toolbox provides functions and algorithms to complete the following steps in the stereo vision workflow:
Stereo calibration is the process of finding the intrinsic and extrinsic parameters of a pair of cameras, as well as the relative positions and orientations of the cameras. Stereo calibration is a precursor to calibrated stereo rectification and 3D scene reconstruction. Computer Vision System Toolbox provides algorithms and functions to calibrate a pair of stereo cameras using a checkerboard calibration pattern.
Stereo image rectification transforms a pair of stereo images so that a corresponding point in one image can be found in the corresponding row in the other image. This process reduces the 2-D stereo correspondence problem to a 1-D problem, and it simplifies how to determine the depth of each point in the scene. Computer Vision System Toolbox provides functionality for stereo rectification that includes:
The relative depths of points in a scene are represented in a stereo disparity map which is calculated by matching corresponding points in a pair of rectified stereo images. The system toolbox provides algorithms for disparity calculation including:
You can reconstruct the 3D structure of a scene by projecting the 2D contents of a scene to three dimensions using the disparity map and information from stereo calibration.