matlab_StereoCal.mat

Stereo Camera Calibration
Specify calibration images. 


clear;
leftImages = imageDatastore(fullfile('C:\Users\abdul\OneDrive\Pictures\Camera Roll\stereo_calib\blur_left_cam_0.5_new'));
% leftImages = imageDatastore(fullfile( 'C:\Users\abdul\OneDrive\Pictures\Camera Roll\stereo_calib\left_new'));
rightImages = imageDatastore(fullfile('C:\Users\abdul\OneDrive\Pictures\Camera Roll\stereo_calib\right_new'));

% destdirectory1 = 'C:\Users\abdul\OneDrive\Pictures\Camera Roll\stereo_calib\blur_left_cam_0.5_new'
% % Perturb the images on the left_camera
% for i = 1:1:6
%      leftImages_a = readimage(leftImages,i)
%      h3 = fspecial('gaussian', [64 64], 4);
%      leftImages_b = imfilter(leftImages_a, h3, 'replicate')
% %      leftImages_b = imrotate(leftImages_a,1)
%      baseFileName1 = sprintf('Image #%d.png', i);
%      fullFileName1 = fullfile(destdirectory1, baseFileName1);
%      imwrite(leftImages_b, fullFileName1);
% 
%  end







Detect the checkerboards.
[imagePoints,boardSize] = ...
  detectCheckerboardPoints(leftImages.Files,rightImages.Files);

Specify the world coordinates of the checkerboard keypoints. Square size is in millimeters.
squareSize = 25;
worldPoints = generateCheckerboardPoints(boardSize,squareSize);


Calibrate the stereo camera system. Both cameras have the same resolution.
I = readimage(leftImages,5); 
I_r = readimage(rightImages,5); 
% I = imgaussfilt(I_o,4)
I_blur = imgaussfilt(I,1.2)
imagesc(I_blur)


imageSize = [size(I,1),size(I,2)];
params = estimateCameraParameters(imagePoints,worldPoints, ...
                                  'ImageSize',imageSize);

  [J1_valid,J2_valid] = rectifyStereoImages(I,I_r,params, ...
  'OutputView','valid');
  figure; 
  imshow(stereoAnaglyph(J1_valid,J2_valid));

Visualize the calibration accuracy.
  showReprojectionErrors(params);





Visualize camera extrinsics.
figure;
showExtrinsics(params);