Package boofcv.alg.geo.rectify

Class RectifyFundamental

java.lang.Object

boofcv.alg.geo.rectify.RectifyFundamental

public class RectifyFundamental
extends Object

Rectifies a stereo pair given a fundamental or essential matrix. The rectification ensures that the epipolar lines project to infinity along the x-axis. The computed transforms are designed to minimize the range of disparity between the two images. For this technique to work the epipoles must lie outside of both images. See [1,2] for algorithmic details.

WARNING: On paper this technique sounds straight forward. In practice it requires a very precise fundamental matrix estimate to be of practical use. Using the epipolar constraint alone is not sufficient to remove outliers because a point far away that lands on the epipolar line will have a small error. Removing lens distortion from the image is recommended.

1. R. Hartley, "Theory and Practice of Projective Rectification", International Journal of Computer Vision, vol 35, no 2, pages 115-127, 1999.
2. Page 305 in R. Hartley, and A. Zisserman, "Multiple View Geometry in Computer Vision", 2nd Ed, Cambridge 2003

Constructor Summary

Constructors

Constructor	Description
RectifyFundamental()

Method Summary

Modifier and Type	Method	Description
void	process(DMatrixRMaj F, List<AssociatedPair> observations, int width, int height)	Compute rectification transforms for the stereo pair given a fundamental matrix and its observations.

Methods inherited from class java.lang.Object

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

Constructor Details

RectifyFundamental

public RectifyFundamental()

Method Details

process

public void process(DMatrixRMaj F,
 List<AssociatedPair> observations,
 int width,
 int height)

Compute rectification transforms for the stereo pair given a fundamental matrix and its observations.

Parameters:

F - Fundamental matrix

observations - Observations used to compute F

width - Width of first image.

height - Height of first image.