boofcv.abst.sfm

Interface ImagePixelTo3D

All Known Implementing Classes:

DepthSparse3D_to_PixelTo3D, PyramidDirectColorDepth.LayerTo3D, StereoSparse3D

public interface ImagePixelTo3D

Generalized interface for sensors which allow pixels in an image to be converted into 3D world coordinates. 3D points are returned in homogeneous coordinates so that points at infinity can be handled. To convert points into 3D coordinates simply divide each number by 'w'.

Homogeneous to 3D coordinates:
3D: (x',y',z') = (x/w, y/w , z/w)

Examples of sensors: stereo cameras, flash LADAR, and structured light.

Method Summary

Modifier and Type	Method and Description
double	getW() Found w-coordinate of point in camera coordinate system.
double	getX() Found x-coordinate of point in camera coordinate system.
double	getY() Found y-coordinate of point in camera coordinate system.
double	getZ() Found z-coordinate of point in camera coordinate system.
boolean	process(double x, double y) Estimate the location of the pixel in 3D camera coordinates.

Method Detail

process

boolean process(double x,
                double y)

Estimate the location of the pixel in 3D camera coordinates.

Parameters:

x - x-coordinate of the pixel

y - y-coordinate of the pixel

Returns:

true if a position could be estimated and false if not.

getX

double getX()

Found x-coordinate of point in camera coordinate system.

Returns:

x-coordinate

getY

double getY()

Found y-coordinate of point in camera coordinate system.

Returns:

y-coordinate

getZ

double getZ()

Found z-coordinate of point in camera coordinate system.

Returns:

z-coordinate

getW

double getW()

Found w-coordinate of point in camera coordinate system. If a point is at infinity then this value will be zero.

Returns:

w-coordinate