Package boofcv.alg.feature.associate

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 Summary

Fields

Modifier and Type	Field	Description
protected Point2Transform2_F64	leftImageToRect
protected Point2Transform2_F64	rightImageToRect

Constructor Summary

Constructors

Constructor	Description
StereoConsistencyCheck(double toleranceX, double toleranceY)

Method Summary

Modifier and Type	Method	Description
boolean	checkPixel(Point2D_F64 left, Point2D_F64 right)	Checks to see if the observations from the left and right camera are consistent.
boolean	checkRectified(Point2D_F64 left, Point2D_F64 right)	Checks to see if the observations from the left and right camera are consistent.
void	setCalibration(StereoParameters param)

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Details

leftImageToRect

protected Point2Transform2_F64 leftImageToRect

rightImageToRect

protected Point2Transform2_F64 rightImageToRect

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