Package boofcv.alg.mvs

Class CreateCloudFromDisparityImages

java.lang.Object

boofcv.alg.mvs.CreateCloudFromDisparityImages

public class CreateCloudFromDisparityImages
extends Object

Creates a point cloud from multiple disparity images. An effort is made to avoid adding the same point twice to the cloud. Initially the cloud is kept in separate lists to make it easy to see which view contributed what points to the cloud.

Field Summary

Fields

Modifier and Type	Field	Description
double	disparitySimilarTol	If the cloud point projects to a pixel with a disparity within this tolerance the pixel will not be added.

Constructor Summary

Constructors

Constructor	Description
CreateCloudFromDisparityImages()

Method Summary

Modifier and Type	Method	Description
int	addCloud(List<Point3D_F64> cloud)	Adds a point cloud.
int	addInverseDepth(GrayF32 inverseDepth, Se3_F64 world_to_view, Point2Transform2_F64 norm_to_pixel, PixelTransform<Point2D_F64> pixel_to_norm)	Add points from the inverse depth image
void	reset()	Clears previously added views and points.

Methods inherited from class java.lang.Object

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

Field Details

disparitySimilarTol

public double disparitySimilarTol

If the cloud point projects to a pixel with a disparity within this tolerance the pixel will not be added. Units are in disparity pixels.

Constructor Details

CreateCloudFromDisparityImages

public CreateCloudFromDisparityImages()

Method Details

reset

public void reset()

Clears previously added views and points.

addCloud

public int addCloud(List<Point3D_F64> cloud)

Adds a point cloud. This can be used to add prior data.

Parameters:

cloud - (Input) A point cloud. This is copied.

Returns:

The index of the view that can be used to retrieve the specified points added

addInverseDepth

public int addInverseDepth(GrayF32 inverseDepth,
 Se3_F64 world_to_view,
 Point2Transform2_F64 norm_to_pixel,
 PixelTransform<Point2D_F64> pixel_to_norm)

Add points from the inverse depth image

NOTE: The reason point and pixel transforms are used is that combined disparity images might include lens distortion.

Parameters:

inverseDepth - (Input) Disparity image

world_to_view - (Input) Transform from world to view reference frame

norm_to_pixel - (Input) Transform from normalized image coordinates into pixels

pixel_to_norm - (Input) Transform from pixels into normalized image coordinates.

Returns:

The index of the view that can be used to retrieve the specified points added