Package boofcv.alg.sfm

Class StereoProcessingBase<T extends boofcv.struct.image.ImageGray<T>>

  • Direct Known Subclasses:
    StereoSparse3D
    public class StereoProcessingBase<T extends boofcv.struct.image.ImageGray<T>>
extends java.lang.Object
    Base class that configures stereo processing. Created distortion for converting image from its input image into an undistorted rectified image ready for stereo processing.

    • Field Summary

      Fields 
      Modifier and Type Field Description
      protected double baseline  
      protected double cx  
      protected double cy  
      protected double fx  
      protected double fy  
      protected T imageLeftRect  
      protected T imageRightRect  
      protected georegression.struct.point.Point3D_F64 pointRect  
      protected org.ejml.data.DMatrixRMaj rect1  
      protected org.ejml.data.DMatrixRMaj rect2  
      protected org.ejml.data.DMatrixRMaj rectK  
      protected org.ejml.data.DMatrixRMaj rectR  

    • Constructor Summary

      Constructors 
      Constructor Description
      StereoProcessingBase​(java.lang.Class<T> imageType)
      Declares internal data structures

    • Method Summary

      All Methods Instance Methods Concrete Methods 
      Modifier and Type Method Description
      void computeHomo3D​(double x, double y, georegression.struct.point.Point3D_F64 pointLeft)
      Given a coordinate of a point in the left rectified frame, compute the point's 3D coordinate in the camera's reference frame in homogeneous coordinates.
      T getImageLeftRect()
      Rectified left image
      T getImageRightRect()
      Rectified right image
      org.ejml.data.DMatrixRMaj getRect1()  
      org.ejml.data.DMatrixRMaj getRect2()  
      org.ejml.data.DMatrixRMaj getRectK()
      Intrinsic camera calibration matrix for both cameras after rectification
      void initialize()
      Initializes stereo processing.
      void setCalibration​(boofcv.struct.calib.StereoParameters stereoParam)
      Specifies stereo parameters
      void setImages​(T leftImage, T rightImage)
      Sets the input images.

      • Methods inherited from class java.lang.Object

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

    • Field Detail

      • imageLeftRect

        protected T extends boofcv.struct.image.ImageGray<T> imageLeftRect

      • imageRightRect

        protected T extends boofcv.struct.image.ImageGray<T> imageRightRect

      • rect1

        protected org.ejml.data.DMatrixRMaj rect1

      • rect2

        protected org.ejml.data.DMatrixRMaj rect2

      • rectK

        protected org.ejml.data.DMatrixRMaj rectK

      • rectR

        protected org.ejml.data.DMatrixRMaj rectR

      • pointRect

        protected georegression.struct.point.Point3D_F64 pointRect

      • baseline

        protected double baseline

      • cx

        protected double cx

      • cy

        protected double cy

      • fx

        protected double fx

      • fy

        protected double fy

    • Constructor Detail

      • StereoProcessingBase

        public StereoProcessingBase​(java.lang.Class<T> imageType)
        Declares internal data structures
        Parameters:
        imageType - Input image type

    • Method Detail

      • setCalibration

        public void setCalibration​(boofcv.struct.calib.StereoParameters stereoParam)
        Specifies stereo parameters
        Parameters:
        stereoParam - stereo parameters

      • computeHomo3D

        public void computeHomo3D​(double x,
                          double y,
                          georegression.struct.point.Point3D_F64 pointLeft)
        Given a coordinate of a point in the left rectified frame, compute the point's 3D coordinate in the camera's reference frame in homogeneous coordinates. To convert the coordinate into normal 3D, divide each element by the disparity.
        Parameters:
        x - x-coordinate of pixel in rectified left image
        y - y-coordinate of pixel in rectified left image
        pointLeft - Storage for 3D coordinate of point in homogeneous coordinates. w = disparity

      • setImages

        public void setImages​(T leftImage,
                      T rightImage)
        Sets the input images. Processing is delayed until initialize() has been called.
        Parameters:
        leftImage - Left image
        rightImage - Right image

      • initialize

        public void initialize()
        Initializes stereo processing.

      • getImageLeftRect

        public T getImageLeftRect()
        Rectified left image

      • getImageRightRect

        public T getImageRightRect()
        Rectified right image

      • getRectK

        public org.ejml.data.DMatrixRMaj getRectK()
        Intrinsic camera calibration matrix for both cameras after rectification
        Returns:
        camera calibration matrix

      • getRect1

        public org.ejml.data.DMatrixRMaj getRect1()

      • getRect2

        public org.ejml.data.DMatrixRMaj getRect2()