Package boofcv.alg.geo.rectify

Class DisparityParameters

java.lang.Object

boofcv.alg.geo.rectify.DisparityParameters

public class DisparityParameters
extends Object

Describes the geometric meaning of values in a disparity image.

Field Summary

Fields

Modifier and Type	Field	Description
double	baseline	The baseline between the two views
int	disparityMin	The minimum possible disparity value
int	disparityRange	The number of possible disparity values
final CameraPinhole	pinhole	Rectified camera's intrinsic parameters
final DMatrixRMaj	rotateToRectified	Rotation from view to rectified synthetic view

Constructor Summary

Constructors

Constructor	Description
DisparityParameters()
DisparityParameters(int disparityMin, int disparityRange, double baseline, CameraPinhole pinhole)

Method Summary

Modifier and Type	Method	Description
void	checkValidity()	Checks if specified parameters are valid
boolean	pixelToLeft3D(double pixelX, double pixelY, double value, Point3D_F64 location)	Give a pixel coordinate and raw disparity value, compute its 3D location.
boolean	pixelToLeft4D(double pixelX, double pixelY, double value, Point4D_F64 location)	Give a pixel coordinate and raw disparity value, compute its homogenous location.
void	reset()	Resets fields to their initial values
DisparityParameters	setTo(DisparityParameters src)	Makes 'this' a copy of 'src'.

Methods inherited from class java.lang.Object

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

Field Details

disparityMin

public int disparityMin

The minimum possible disparity value

disparityRange

public int disparityRange

The number of possible disparity values

baseline

public double baseline

The baseline between the two views

pinhole

public final CameraPinhole pinhole

Rectified camera's intrinsic parameters

rotateToRectified

public final DMatrixRMaj rotateToRectified

Rotation from view to rectified synthetic view

Constructor Details

DisparityParameters

public DisparityParameters()

DisparityParameters

public DisparityParameters(int disparityMin,
 int disparityRange,
 double baseline,
 CameraPinhole pinhole)

Method Details

pixelToLeft3D

public boolean pixelToLeft3D(double pixelX,
 double pixelY,
 double value,
 Point3D_F64 location)

Give a pixel coordinate and raw disparity value, compute its 3D location. If the point is at infinity or the disparity value is illegal, then false is returned.

Parameters:

pixelX - Pixel coordinate x-axis

pixelY - Pixel coordinate y-axis

value - Raw disparity value. DO NOT ADD MIN.

location - (Output) Computed 3D coordinate

Returns:

true if successful

pixelToLeft4D

public boolean pixelToLeft4D(double pixelX,
 double pixelY,
 double value,
 Point4D_F64 location)

Give a pixel coordinate and raw disparity value, compute its homogenous location. This can handle points at infinity.

Parameters:

pixelX - Pixel coordinate x-axis

pixelY - Pixel coordinate y-axis

value - Raw disparity value. DO NOT ADD MIN.

location - (Output) Computed homogenous coordinate

Returns:

true if successful

reset

public void reset()

Resets fields to their initial values

setTo

public DisparityParameters setTo(DisparityParameters src)

Makes 'this' a copy of 'src'.

Parameters:

src - Set of disparity parameters.

checkValidity

public void checkValidity()

Checks if specified parameters are valid