Package boofcv.abst.sfm

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