boofcv.alg.depth

Class VisualDepthOps

java.lang.Object

boofcv.alg.depth.VisualDepthOps

public class VisualDepthOps
extends java.lang.Object

Various functions and operations specific to visual depth sensors.

Constructor Summary

Constructors

Constructor and Description
VisualDepthOps()

Method Summary

Modifier and Type	Method and Description
static void	depthTo3D(boofcv.struct.calib.CameraPinholeRadial param, boofcv.struct.image.GrayU16 depth, org.ddogleg.struct.FastQueue<georegression.struct.point.Point3D_F64> cloud) Creates a point cloud from a depth image.
static void	depthTo3D(boofcv.struct.calib.CameraPinholeRadial param, boofcv.struct.image.Planar<boofcv.struct.image.GrayU8> rgb, boofcv.struct.image.GrayU16 depth, org.ddogleg.struct.FastQueue<georegression.struct.point.Point3D_F64> cloud, boofcv.struct.FastQueueArray_I32 cloudColor) Creates a point cloud from a depth image and saves the color information.

Methods inherited from class java.lang.Object

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

Constructor Detail

VisualDepthOps

public VisualDepthOps()

Method Detail

depthTo3D

public static void depthTo3D(boofcv.struct.calib.CameraPinholeRadial param,
                             boofcv.struct.image.GrayU16 depth,
                             org.ddogleg.struct.FastQueue<georegression.struct.point.Point3D_F64> cloud)

Creates a point cloud from a depth image.

Parameters:

param - Intrinsic camera parameters for depth image

depth - depth image. each value is in millimeters.

cloud - Output point cloud

depthTo3D

public static void depthTo3D(boofcv.struct.calib.CameraPinholeRadial param,
                             boofcv.struct.image.Planar<boofcv.struct.image.GrayU8> rgb,
                             boofcv.struct.image.GrayU16 depth,
                             org.ddogleg.struct.FastQueue<georegression.struct.point.Point3D_F64> cloud,
                             boofcv.struct.FastQueueArray_I32 cloudColor)

Creates a point cloud from a depth image and saves the color information. The depth and color images are assumed to be aligned.

Parameters:

param - Intrinsic camera parameters for depth image

depth - depth image. each value is in millimeters.

rgb - Color image that's aligned to the depth.

cloud - Output point cloud

cloudColor - Output color for each point in the cloud