Stereo Vision in Matlab

Question

Hello! I’m trying to run a matlab algorithm that uses only matlab functions. The program should initially calibrate the cameras, extract their parameters and generate a disparity map through two rectified images with the parameters obtained in the calibration. However when I run the program it generates an error that I don’t know how to fix. I use the 2015a version with the Toolbox "Computer Vision System" installed and for calibration I am using a checkerboard. Below is the algorithm I’m using:

%Carrega os pares de imagens para calibração
ParesdeImagens = 11;
arquivoImagens1 = cell(1,ParesdeImagens);
arquivoImagens2 = cell(1,ParesdeImagens);
imagemDir = fullfile('C:','Users','carlo','Documents','Iniciacao','Matlab','Principal');
for i = 1:ParesdeImagens
   arquivoImagens1{i} = fullfile(imagemDir,  sprintf('left%02d.jpg', i));
   arquivoImagens2{i} = fullfile(imagemDir,  sprintf('right%02d.jpg', i));
end

%Realiza a detecção dos cantos no tabuleiro
[imagePoints, boardSize, pairsUsed] = detectCheckerboardPoints(arquivoImagens1, arquivoImagens2);

%Exibe os pontos identificados da camera esquerda
arquivoImagens1=arquivoImagens1(pairsUsed);
figure;
for i= 1:numel(arquivoImagens1)
   I= imread(arquivoImagens1{i});
   subplot(3,4,i);
   imshow(I);
   hold on;
   plot(imagePoints(:,1,i,1),imagePoints(:,2,i,1),'*-g');
end

%Exibe os pontos identificados da camera direita
arquivoImagens2=arquivoImagens2(pairsUsed);
figure;
for i= 1:numel(arquivoImagens2)
   I= imread(arquivoImagens2{i});
   subplot(3,4,i);
   imshow(I);
   hold on;
   plot(imagePoints(:,1,i,2),imagePoints(:,2,i,2),'*-g');
end

%Computa as coordenadas reais do tabuleiro  
squareSize = 29; % milimetros
worldPoints = generateCheckerboardPoints(boardSize, squareSize);

%Computa os parâmetros estéreos  
stereoParams = estimateCameraParameters(imagePoints, worldPoints);

%Avalia a precisão da calibração
figure;
showReprojectionErrors(stereoParams);

% Lê um par de imagens
I1 = imread('esquerda.jpg');
I2 = imread('direita.jpg');

%Retifica as imagens
[J1, J2] = rectifyStereoImages(I1, I2, stereoParams);

%Exibe as imagens antes da retificação
figure;
imshow(stereoAnaglyph(I1, I2));
title('Antes da Retificacao');

%Exibe as imagens depois da retificação
figure;
imshow(stereoAnaglyph(J1, J2));
title('Depois da Retificacao');

%Gera o mapa de disparidade
disparityMap = disparity(rgb2gray(J1), rgb2gray(J2));
figure;
imshow(disparityMap, [0, 64]);
colormap('jet');
colorbar;
title('Mapa de Disparidade');

When I run the program I get the following error message:

Operands to the || and && operators must be convertible to logical scalar values.

Error in vision.internal.calibration.CameraParametersImpl/getValidBounds (line 883)
        if isempty(coder.target) && (left > right || top > bot)

Error in vision.internal.calibration.CameraParametersImpl/computeUndistortBounds (line 785)
                [xBounds, yBounds] = getValidBounds(this, undistortedMask, ...

Error in vision.internal.calibration.StereoParametersImpl/computeOutputBounds (line 371)
        [xBoundsUndistort1, yBoundsUndistort1] = ...

Error in vision.internal.calibration.StereoParametersImpl/computeRectificationParameters (line 271)
        [xBounds, yBounds] = computeOutputBounds(this, imageSize, ...

Error in vision.internal.calibration.StereoParametersImpl/rectifyStereoImagesImpl (line 190)
            [H1, H2, Q, xBounds, yBounds] = ...

Error in rectifyStereoImages (line 99)
[rectifiedImage1, rectifiedImage2] = rectifyStereoImagesImpl(stereoParams, ...

Error in new_project (line 55)
[J1, J2] = rectifyStereoImages(I1, I2, stereoParams);

In this case, the corners of all images of both pairs were correctly recognized, and an error of 4 pixels was estimated. For imaging I used a 10 cm distance between the cameras and made sure they were both parallel and aligned correctly. All images were taken by a mobile camera ( Nokia Lumia 520 ).

Here’s a screenshot of the board I used to calibrate the stereo pair:

If anyone has any idea what might be going on and can assist me would be of great help!

Thank you.