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.

Author:

Peter Abeles

See Also:

Serialized Form

Field Summary

Fields

Modifier and Type	Field and Description
IntrinsicParameters	left intrinsic camera parameters of left camera
IntrinsicParameters	right intrinsic camera parameters of right camera
georegression.struct.se.Se3_F64	rightToLeft transform from left camera to right camera
static long	serialVersionUID

Constructor Summary

Constructors

Constructor and Description
StereoParameters()
StereoParameters(IntrinsicParameters left, IntrinsicParameters right, georegression.struct.se.Se3_F64 rightToLeft)
StereoParameters(StereoParameters param)

Method Summary

Methods

Modifier and Type	Method and Description
double	getBaseline() Returns the distance between the optical center of each camera
IntrinsicParameters	getLeft()
IntrinsicParameters	getRight()
georegression.struct.se.Se3_F64	getRightToLeft()
void	print()
void	setLeft(IntrinsicParameters left)
void	setRight(IntrinsicParameters right)
void	setRightToLeft(georegression.struct.se.Se3_F64 rightToLeft)

Methods inherited from class java.lang.Object

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

Field Detail

serialVersionUID

public static final long serialVersionUID

See Also:

Constant Field Values

left

public IntrinsicParameters left

intrinsic camera parameters of left camera

right

public IntrinsicParameters right

intrinsic camera parameters of right camera

rightToLeft

public georegression.struct.se.Se3_F64 rightToLeft

transform from left camera to right camera

Constructor Detail

StereoParameters

public StereoParameters(StereoParameters param)

StereoParameters

public StereoParameters(IntrinsicParameters left,
                IntrinsicParameters right,
                georegression.struct.se.Se3_F64 rightToLeft)

StereoParameters

public StereoParameters()

Method Detail

getLeft

public IntrinsicParameters getLeft()

setLeft

public void setLeft(IntrinsicParameters left)

getRightToLeft

public georegression.struct.se.Se3_F64 getRightToLeft()

setRightToLeft

public void setRightToLeft(georegression.struct.se.Se3_F64 rightToLeft)

getRight

public IntrinsicParameters getRight()

setRight

public void setRight(IntrinsicParameters right)

getBaseline

public double getBaseline()

Returns the distance between the optical center of each camera

print

public void print()