Class StereoConsistencyCheck

java.lang.Object
boofcv.alg.feature.associate.StereoConsistencyCheck
Direct Known Subclasses:
AssociateStereo2D

public class StereoConsistencyCheck
extends Object
Checks to see if two observations from a left to right stereo camera are consistent. Observations are converted to rectified coordinates. They are then checked to see if their y-axis are the same to within tolerance and that the left x-coordinate is larger than the right x-coordinate, to within tolerance.
  • Field Details

  • Constructor Details

    • StereoConsistencyCheck

      public StereoConsistencyCheck​(double toleranceX, double toleranceY)
  • Method Details

    • setCalibration

      public void setCalibration​(StereoParameters param)
    • checkPixel

      public boolean checkPixel​(Point2D_F64 left, Point2D_F64 right)
      Checks to see if the observations from the left and right camera are consistent. Observations are assumed to be in the original image pixel coordinates.
      Parameters:
      left - Left camera observation in original pixels
      right - Right camera observation in original pixels
      Returns:
      true for consistent
    • checkRectified

      public boolean checkRectified​(Point2D_F64 left, Point2D_F64 right)
      Checks to see if the observations from the left and right camera are consistent. Observations are assumed to be in the rectified image pixel coordinates.
      Parameters:
      left - Left camera observation in rectified pixels
      right - Right camera observation in rectified pixels
      Returns:
      true for consistent