Package boofcv.alg.feature.associate

Class 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 Description
      protected boofcv.struct.distort.Point2Transform2_F64 leftImageToRect  
      protected boofcv.struct.distort.Point2Transform2_F64 rightImageToRect  

    • Constructor Summary

      Constructors 
      Constructor Description
      StereoConsistencyCheck​(double toleranceX, double toleranceY)  

    • Method Summary

      All Methods Instance Methods Concrete Methods 
      Modifier and Type Method 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