Class VisualDepthOps


  • public class VisualDepthOps
    extends java.lang.Object
    Various functions and operations specific to visual depth sensors.
    • Constructor Detail

      • VisualDepthOps

        public VisualDepthOps()
    • Method Detail

      • depthTo3D

        public static void depthTo3D​(CameraPinholeBrown param,
                                     GrayU16 depth,
                                     FastQueue<Point3D_F64> cloud)
        Creates a point cloud from a depth image.
        Parameters:
        param - Intrinsic camera parameters for depth image
        depth - depth image. each value is in millimeters.
        cloud - Output point cloud
      • depthTo3D

        public static void depthTo3D​(CameraPinholeBrown param,
                                     Planar<GrayU8> rgb,
                                     GrayU16 depth,
                                     FastQueue<Point3D_F64> cloud,
                                     FastQueueArray_I32 cloudColor)
        Creates a point cloud from a depth image and saves the color information. The depth and color images are assumed to be aligned.
        Parameters:
        param - Intrinsic camera parameters for depth image
        depth - depth image. each value is in millimeters.
        rgb - Color image that's aligned to the depth.
        cloud - Output point cloud
        cloudColor - Output color for each point in the cloud