Reconstruction with rectified images

[muttistefano]

Hi all, and thanks for the work. I have been trying to reconstruct my environment using images that are rectified using opencv with the flag RECTIFY_CYLINDRICAL, such as this :

I also use a mask to cut the black part of the image and the stationary parts.

The problem is that I cannot manage to make this work, plus when I execute the whole pipeline to get the dense reconstruction, I get the undistorted images that make no sense and look like a bunch of cropped parts from the original images and distorted images. Why do I need to undistort images if I start from images that are rectified ? Thanks

[json87]

I do not think spheresfm can process the rectified images as it only has the camera imaging model for the ERP image format.