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Stereo Rectification Check

Verify that pairs of corresponding epipolar points from stereo images lie on the same horizontal scanline.

In a properly rectified stereo pair, all epipolar lines are horizontal, meaning corresponding points in the left and right images should have the same (or very close) y-coordinates. This is a fundamental requirement for efficient stereo matching.

Given two lists of corresponding points from the left and right images, check whether each pair satisfies the horizontal alignment condition within a given tolerance $\epsilon$ :

$|y_{\text{left}} - y_{\text{right}}| \leq \epsilon$

Return a list of boolean values, one per pair, indicating whether the pair is properly rectified.

Example:

Input:

left_points = [[100, 200], [150, 300], [200, 400]]
right_points = [[80, 200], [130, 301], [180, 410]]
tolerance = 2.0

Output:

[True, True, False]

Reasoning:

We iterate over the pairs of corresponding points from the left and right images: left_points and right_points.
For each pair, we calculate the absolute difference in y-coordinates: $|y_{\text{left}} - y_{\text{right}}|$ .
We compare this difference to the given tolerance of 2.0 and check if it satisfies the condition: $|y_{\text{left}} - y_{\text{right}}| \leq \epsilon$ .
The results of these comparisons are collected in a list, where each element corresponds to a pair of points: [True, True, False].

Constraints:

left_points: List of [x, y] coordinates from left image
right_points: List of [x, y] coordinates from right image
tolerance: float (maximum allowed y-coordinate difference)
Return: List of True/False values
Use pure Python

Editor

Python 3.13.1

Test Results

0/0

Run code to see test results.

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