Package boofcv.alg.cloud

Class DisparityToColorPointCloud

java.lang.Object

boofcv.alg.cloud.DisparityToColorPointCloud

public class DisparityToColorPointCloud
extends Object

Renders a 3D point cloud using a perspective pin hole camera model. An ROI can be specified if only part of the image is desired

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

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static interface	DisparityToColorPointCloud.ColorImage	Interface for accessing RGB values inside an image

Field Summary

Fields

Modifier and Type	Field	Description
double	radius

Constructor Summary

Constructors

Constructor	Description
DisparityToColorPointCloud()

Method Summary

Modifier and Type	Method	Description
void	clearRegionOfInterest()	Removes the ROI
void	configure(double baseline, DMatrixRMaj K, DMatrixRMaj rectifiedR, @Nullable Point2Transform2_F64 rectifiedToColor, int disparityMin, int disparityRange)	Stereo and intrinsic camera parameters
void	configure(DisparityParameters param, @Nullable Point2Transform2_F64 rectifiedToColor)	Convenience function which allows you to use DisparityParameters and calls configure(double, DMatrixRMaj, DMatrixRMaj, Point2Transform2_F64, int, int).
void	process(ImageGray<?> disparity, DisparityToColorPointCloud.ColorImage color, PointCloudWriter output)	Given the disparity image compute the 3D location of valid points and save pixel colors at that point
void	setRegionOfInterest(int x0, int y0, int x1, int y1)	Specifies a ROI in the disparity image the cloud should come from

Methods inherited from class java.lang.Object

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

Field Details

radius

public double radius

Constructor Details

DisparityToColorPointCloud

public DisparityToColorPointCloud()

Method Details

configure

public void configure(double baseline,
 DMatrixRMaj K,
 DMatrixRMaj rectifiedR,
 @Nullable
 @Nullable Point2Transform2_F64 rectifiedToColor,
 int disparityMin,
 int disparityRange)

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. If null then no transform.

disparityMin - Minimum disparity that's computed (pixels)

disparityRange - Number of possible disparity values (pixels)

configure

public void configure(DisparityParameters param,
 @Nullable
 @Nullable Point2Transform2_F64 rectifiedToColor)

Convenience function which allows you to use DisparityParameters and calls configure(double, DMatrixRMaj, DMatrixRMaj, Point2Transform2_F64, int, int).

process

public void process(ImageGray<?> disparity,
 DisparityToColorPointCloud.ColorImage color,
 PointCloudWriter output)

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

setRegionOfInterest

public void setRegionOfInterest(int x0,
 int y0,
 int x1,
 int y1)

Specifies a ROI in the disparity image the cloud should come from

Parameters:

x0 - lower extent, x-axis, inclusive

y0 - lower extent, y-axis, inclusive

x1 - upper extent, x-axis, exclusive

y1 - upper extent, y-axis, exclusive

clearRegionOfInterest

public void clearRegionOfInterest()

Removes the ROI