# 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 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 Details

• ### 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