The goal is to compute 3-d points from a stereo pair. It is assumed that homographies for two planes (z=0 and z=z0) are available. These are currently computed by brct_plane_calibrator. By interpolation, we have Hl(z) and Hr(z) for the left(l) and right(r) cameras for any x-y plane, Z=z. Then at each z there are methods for computing matches of intensity through normalized cross correlation and by the distance between Harris corners. A number of approaches are available, but the most successful is to map Harris corners from the right image to the world plane, using Hr^-1 then map the corners to the left image using Hl. The overall homography is Hl*Hr^-1. A match between a mapped corner and original left image corner is defined by 1) they are within a distance threshold and 2) the normalized cross-correlation at the match point is above a specified threshold.
Earlier attempts involved mapping the points and images onto the world plane and carrying out the matches there. It is probably better conditioned to consider errors in the projected image space rather than on the world plane.
Initial version Feb. 2004
Definition in file brct_plane_sweeper.h.
#include <vcl_vector.h>
#include <vcl_string.h>
#include <vgl/algo/vgl_h_matrix_2d.h>
#include <vil1/vil1_memory_image_of.h>
#include <vil1/vil1_rgb.h>
#include <vsol/vsol_box_2d_sptr.h>
#include <vsol/vsol_point_3d_sptr.h>
#include <vsol/vsol_point_2d_sptr.h>
#include <bsol/bsol_point_index_2d.h>
#include <brct/brct_plane_sweeper_params.h>
Go to the source code of this file.
Classes | |
| class | brct_plane_sweeper |
1.4.4