boofcv.examples.stereo

Class ExampleRectifyUncalibratedStereo

java.lang.Object

boofcv.examples.stereo.ExampleRectifyUncalibratedStereo

public class ExampleRectifyUncalibratedStereo
extends java.lang.Object

In this example, two images are rectified using a Fundamental matrix. This is known as uncalibrated stereo rectification since the camera's intrinsic parameters and stereo baseline are not known. The fundamental matrix is computed by matching image features, followed by robust estimation using RANSAC to remove outliers.

Lens distortion has been removed to increase its accuracy. It is worth mentioning that if you can remove lens distortion then you also know the intrinsic camera parameters. To see how this added information can be used take a look at ExampleStereoTwoViewsOneCamera.

Constructor Summary

Constructors

Constructor and Description
ExampleRectifyUncalibratedStereo()

Method Summary

Modifier and Type	Method and Description
static void	main(java.lang.String[] args)
static void	rectify(org.ejml.data.DenseMatrix64F F, java.util.List<AssociatedPair> inliers, java.awt.image.BufferedImage origLeft, java.awt.image.BufferedImage origRight) Rectifies the image using the provided fundamental matrix.

Methods inherited from class java.lang.Object

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

Constructor Detail

ExampleRectifyUncalibratedStereo

public ExampleRectifyUncalibratedStereo()

Method Detail

rectify

public static void rectify(org.ejml.data.DenseMatrix64F F,
                           java.util.List<AssociatedPair> inliers,
                           java.awt.image.BufferedImage origLeft,
                           java.awt.image.BufferedImage origRight)

Rectifies the image using the provided fundamental matrix. Both the fundamental matrix and set of inliers need to be accurate. Small errors will cause large distortions.

Parameters:

F - Fundamental matrix

inliers - Set of associated pairs between the two images.

origLeft - Original input image. Used for output purposes.

origRight - Original input image. Used for output purposes.

main

public static void main(java.lang.String[] args)