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By defining the Cameras node, only patterns which are detected by the given stereo setup will pass the filter.

 

To pass this filter the pattern detection must fulfill the following requirements:

•The pattern was detected in both images of the stereo camera setup

•Both detections could be identified as the same pattern, i.e.:

oSame grid size (Width x Height)

oSame decoded pattern information when available:

▪Grid spacing

▪Thickness

▪Offsets

oWhen UseModel is enabled:

▪Positions of the patterns in left and right image must match under the current stereo model (i.e. their reprojection error in each camera must be smaller than one grid spacing)
This allows to distinguish and associate several patterns with identical type in a single stereo camera image pair.

 

Allowed stereo setups:

•Single stereo (left + right image)

•Stereo (left image) to monocular

•Stereo (left image) to stereo (left image)

 

Formats