boofcv.gui.d3

Class DisparityToColorPointCloud

java.lang.Object

boofcv.gui.d3.DisparityToColorPointCloud

public class DisparityToColorPointCloud
extends java.lang.Object

Renders a 3D point cloud using a perspective pin hole camera model.

Rendering speed is improved by first rendering onto a grid and only accepting the highest (closest to viewing camera) point as being visible.

Field Summary

Fields

Modifier and Type	Field and Description
double	radius
int	tiltAngle

Constructor Summary

Constructors

Constructor and Description
DisparityToColorPointCloud()

Method Summary

Modifier and Type	Method and Description
void	configure(double baseline, org.ejml.data.DMatrixRMaj K, org.ejml.data.DMatrixRMaj rectifiedR, boofcv.struct.distort.Point2Transform2_F64 rectifiedToColor, int minDisparity, int maxDisparity) Stereo and intrinsic camera parameters
org.ddogleg.struct.GrowQueue_F32	getCloud()
org.ddogleg.struct.GrowQueue_I32	getCloudColor()
void	process(boofcv.struct.image.ImageGray disparity, java.awt.image.BufferedImage color) Given the disparity image compute the 3D location of valid points and save pixel colors at that point

Methods inherited from class java.lang.Object

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

Field Detail

tiltAngle

public int tiltAngle

radius

public double radius

Constructor Detail

DisparityToColorPointCloud

public DisparityToColorPointCloud()

Method Detail

configure

public void configure(double baseline,
                      org.ejml.data.DMatrixRMaj K,
                      org.ejml.data.DMatrixRMaj rectifiedR,
                      boofcv.struct.distort.Point2Transform2_F64 rectifiedToColor,
                      int minDisparity,
                      int maxDisparity)

Stereo and intrinsic camera parameters

Parameters:

baseline - Stereo baseline (world units)

K - Intrinsic camera calibration matrix of rectified camera

rectifiedToColor - Transform from rectified pixels to the color image pixels.

minDisparity - Minimum disparity that's computed (pixels)

maxDisparity - Maximum disparity that's computed (pixels)

process

public void process(boofcv.struct.image.ImageGray disparity,
                    java.awt.image.BufferedImage color)

Given the disparity image compute the 3D location of valid points and save pixel colors at that point

Parameters:

disparity - Disparity image

color - Color image of left camera

getCloud

public org.ddogleg.struct.GrowQueue_F32 getCloud()

getCloudColor

public org.ddogleg.struct.GrowQueue_I32 getCloudColor()