MATLAB 双目视觉极线矫正算法实现

 matlab的源码：

clear;clc;close all;
 
 
image_left = imread('./IMAG_L1.BMP');
image_right= imread('./IMAG_R1.BMP');
 
[H, W, C] = size(image_left);
 
 
%内参
A_L = [ 429.99849   0.0         376.35001;
        0.0         427.66238    235.38535;
        0.0         0.0         1.0];
  
A_R = [ 422.52402   0.0         387.14095;
        0.0         421.20306   210.78373;
        0.0         0.0         1.0];
   
fx1 = A_L(1,1);
fy1 = A_L(2,2);
cx1 = A_L(1,3);
cy1 = A_L(2,3);
 
fx2 = A_R(1,1);
fy2 = A_R(2,2);
cx2 = A_R(1,3);
cy2 = A_R(2,3);
 
fx = (fx1 + fx2)/2;
fy = (fy1 + fy2)/2;
cx = (cx1 + cx2)/2;
cy = (cy1 + cy2)/2;
 
AA = [fx    0   cx;
      0     fy  cy;