boofcv.alg.feature.associate

Class StereoConsistencyCheck

java.lang.Object

boofcv.alg.feature.associate.StereoConsistencyCheck

Direct Known Subclasses:

AssociateStereo2D

public class StereoConsistencyCheck
extends java.lang.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 and Description
protected boofcv.struct.distort.Point2Transform2_F64	leftImageToRect
protected boofcv.struct.distort.Point2Transform2_F64	rightImageToRect

Constructor Summary

Constructors

Constructor and Description
StereoConsistencyCheck(double toleranceX, double toleranceY)

Method Summary

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

Methods inherited from class java.lang.Object

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

Field Detail

leftImageToRect

protected boofcv.struct.distort.Point2Transform2_F64 leftImageToRect

rightImageToRect

protected boofcv.struct.distort.Point2Transform2_F64 rightImageToRect

Constructor Detail

StereoConsistencyCheck

public StereoConsistencyCheck(double toleranceX,
                              double toleranceY)

Method Detail

setCalibration

public void setCalibration(boofcv.struct.calib.StereoParameters param)

checkPixel

public boolean checkPixel(georegression.struct.point.Point2D_F64 left,
                          georegression.struct.point.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(georegression.struct.point.Point2D_F64 left,
                              georegression.struct.point.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