Package boofcv.alg.sfm

Class StereoSparse3D<T extends boofcv.struct.image.ImageGray<T>>

java.lang.Object

boofcv.alg.sfm.StereoProcessingBase<T>

boofcv.alg.sfm.StereoSparse3D<T>

All Implemented Interfaces:

ImagePixelTo3D

public class StereoSparse3D<T extends boofcv.struct.image.ImageGray<T>>
extends StereoProcessingBase<T>
implements ImagePixelTo3D

Computes stereo disparity on a per pixel basis as requested.

Field Summary

Fields inherited from class boofcv.alg.sfm.StereoProcessingBase

baseline, cx, cy, fx, fy, imageLeftRect, imageRightRect, pointRect, rect1, rect2, rectK, rectR

Constructor Summary

Constructors

Constructor	Description
StereoSparse3D(boofcv.abst.feature.disparity.StereoDisparitySparse<T> disparity, java.lang.Class<T> imageType)	Configures and declares internal data

Method Summary

Modifier and Type	Method	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)	Takes in pixel coordinates from the left camera in the original image coordinate system
void	setCalibration(boofcv.struct.calib.StereoParameters stereoParam)	Specifies stereo parameters
void	setImages(T leftImage, T rightImage)	Sets the input images.

Methods inherited from class boofcv.alg.sfm.StereoProcessingBase

computeHomo3D, getImageLeftRect, getImageRightRect, getRect1, getRect2, getRectK, initialize

Methods inherited from class java.lang.Object

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

Constructor Detail

StereoSparse3D

public StereoSparse3D(boofcv.abst.feature.disparity.StereoDisparitySparse<T> disparity,
                      java.lang.Class<T> imageType)

Configures and declares internal data

Parameters:

imageType - Input image type

Method Detail

setCalibration

public void setCalibration(boofcv.struct.calib.StereoParameters stereoParam)

Description copied from class: StereoProcessingBase

Specifies stereo parameters

Overrides:

setCalibration in class StereoProcessingBase<T extends boofcv.struct.image.ImageGray<T>>

Parameters:

stereoParam - stereo parameters

setImages

public void setImages(T leftImage,
                      T rightImage)

Description copied from class: StereoProcessingBase

Sets the input images. Processing is delayed until StereoProcessingBase.initialize() has been called.

Overrides:

setImages in class StereoProcessingBase<T extends boofcv.struct.image.ImageGray<T>>

Parameters:

leftImage - Left image

rightImage - Right image

process

public boolean process(double x,
                       double y)

Takes in pixel coordinates from the left camera in the original image coordinate system

Specified by:

process in interface ImagePixelTo3D

Parameters:

x - x-coordinate of the pixel

y - y-coordinate of the pixel

Returns:

true if successful

getX

public double getX()

Description copied from interface: ImagePixelTo3D

Found x-coordinate of point in camera coordinate system.

Specified by:

getX in interface ImagePixelTo3D

Returns:

x-coordinate

getY

public double getY()

Description copied from interface: ImagePixelTo3D

Found y-coordinate of point in camera coordinate system.

Specified by:

getY in interface ImagePixelTo3D

Returns:

y-coordinate

getZ

public double getZ()

Description copied from interface: ImagePixelTo3D

Found z-coordinate of point in camera coordinate system.

Specified by:

getZ in interface ImagePixelTo3D

Returns:

z-coordinate

getW

public double getW()

Description copied from interface: ImagePixelTo3D

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

Specified by:

getW in interface ImagePixelTo3D

Returns:

w-coordinate