How to correct a vertical shift in stereo images

I am trying to generate a disparity map from stereo images. These stereo images have quite a misalignment. There is a vertical and a horizontal shift.

I restify both images with rectifyStereoImages but it doesn't work:

[J1_BM, J2_BM] = rectifyStereoImages(img_left_2,img_right_2,stereoParams,'OutputView','valid');

The corresponding points in the images don't have the same row coordinates. They have a vertical shift and so the result is a noisy disparity map.

Can anyone suggest me how to correct this shift?

Thank you

[Qu Cao]

Have you calibrated your stereo camera? How did you obtain stereoParams?

Answer 1

[Sai Bhargav Avula]

Hi,

As mentioned Qu Cao first try calibrating the using the stereo images check for the reprojecction error and epipolar error. The calibration can be done by using stereo calibration app. Refer the below link for a detailed explanation,

https://www.mathworks.com/help/vision/ug/stereo-camera-calibrator-app.html

Hope this helps!