Package boofcv.struct.calib

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 Summary

Fields

Modifier and Type	Field	Description
CameraPinholeBrown	left	intrinsic camera parameters of left camera
CameraPinholeBrown	right	intrinsic camera parameters of right camera
Se3_F64	right_to_left	transform from left camera to right camera
static final long	serialVersionUID

Constructor Summary

Constructors

Constructor	Description
StereoParameters()
StereoParameters(CameraPinholeBrown left, CameraPinholeBrown right, Se3_F64 right_to_left)
StereoParameters(StereoParameters param)

Method Summary

Modifier and Type	Method	Description
double	getBaseline()	Returns the distance between the optical center of each camera
Se3_F64	getRightToLeft()
boolean	isRectified(double tol)	Checks to see if the parameters define a rectified stereo pair
void	print()
void	setRightToLeft(Se3_F64 right_to_left)
void	setTo(StereoParameters src)	Makes 'this' identical to 'src'.
String	toString()
String	toStringQuaternion()

Methods inherited from class java.lang.Object

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

Field Details

serialVersionUID

public static final long serialVersionUID

See Also:

• Constant Field Values

left

public CameraPinholeBrown left

intrinsic camera parameters of left camera

right

public CameraPinholeBrown right

intrinsic camera parameters of right camera

right_to_left

public Se3_F64 right_to_left

transform from left camera to right camera

Constructor Details

StereoParameters

public StereoParameters(StereoParameters param)

StereoParameters

public StereoParameters(CameraPinholeBrown left,
 CameraPinholeBrown right,
 Se3_F64 right_to_left)

StereoParameters

public StereoParameters()

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()