Class StereoParameters

java.lang.Object
boofcv.struct.calib.StereoParameters
All Implemented Interfaces:
Serializable

public class StereoParameters
extends Object
implements Serializable

Calibration parameters for a stereo camera pair. Includes intrinsic and extrinsic. The baseline between the two cameras is specified as a rigid body Se3_F64 transform from the right to left camera.

NOTE: When generated during camera calibration, the distance units found in 'rightToLeft' will be in the units that the calibration target size was specified in.

See Also:
Serialized Form
  • Field Details

    • serialVersionUID

      public static final long serialVersionUID
      See Also:
      Constant Field Values
    • left

      public CameraPinholeBrown left
      intrinsic camera parameters of left camera
    • right_to_left

      public Se3_F64 right_to_left
      transform from left camera to right camera
  • Constructor Details

  • Method Details

    • getRightToLeft

      public Se3_F64 getRightToLeft()
    • setRightToLeft

      public void setRightToLeft​(Se3_F64 right_to_left)
    • getBaseline

      public double getBaseline()
      Returns the distance between the optical center of each camera
    • isRectified

      public boolean isRectified​(double tol)
      Checks to see if the parameters define a rectified stereo pair
      Parameters:
      tol - Numeric tolerance. Try 1e-7
      Returns:
      if true then it's rectified
    • setTo

      public void setTo​(StereoParameters src)
      Makes 'this' identical to 'src'.
      Parameters:
      src - The set of parameters that is to be copied.
    • toString

      public String toString()
      Overrides:
      toString in class Object
    • toStringQuaternion

      public String toStringQuaternion()
    • print

      public void print()