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.
| Constructor and Description |
|---|
DisparityToColorPointCloud() |
| 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
|
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)
baseline - Stereo baseline (world units)K - Intrinsic camera calibration matrix of rectified camerarectifiedToColor - Transform from rectified pixels to the color image pixels.minDisparity - Minimum disparity that's computed (pixels)maxDisparity - Maximum disparity that's computed (pixels)public void process(boofcv.struct.image.ImageGray disparity,
java.awt.image.BufferedImage color)
disparity - Disparity imagecolor - Color image of left camerapublic org.ddogleg.struct.GrowQueue_F32 getCloud()
public org.ddogleg.struct.GrowQueue_I32 getCloudColor()