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] 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.

Author:

Peter Abeles

Constructor Summary

Constructors

Constructor and Description
RectifyFundamental()

Method Summary

Methods

Modifier and Type	Method and Description
org.ejml.data.DenseMatrix64F	getRect1() Rectification transform for first camera
org.ejml.data.DenseMatrix64F	getRect2() Rectification transform for second camera
void	process(org.ejml.data.DenseMatrix64F 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 Detail

RectifyFundamental

public RectifyFundamental()

Method Detail

process

public void process(org.ejml.data.DenseMatrix64F 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.

getRect1

public org.ejml.data.DenseMatrix64F getRect1()

Rectification transform for first camera

getRect2

public org.ejml.data.DenseMatrix64F getRect2()

Rectification transform for second camera