Package boofcv.alg.sfm

Class DepthSparse3D<T extends ImageGray<T>>

java.lang.Object
boofcv.alg.sfm.DepthSparse3D<T>
Direct Known Subclasses:
DepthSparse3D.F32, DepthSparse3D.I
public abstract class DepthSparse3D<T extends ImageGray<T>> extends Object
Computes the 3D coordinate a point in a visual camera given a depth image. The visual camera is a standard camera while the depth camera contains the depth (value along z-axis) of objects inside its field of view. The Kinect (structured light) and flash ladar (time of flight) are examples of sensors which could use this class. The z-axis is defined to be pointing straight out of the visual camera and both depth and visual cameras are assumed to be parallel with identical pointing vectors for the z-axis. A mapping is provided for converting between pixels in the visual camera and the depth camera. This mapping is assumed to be fixed with time.

  • Field Details

    • depthImage

      protected T extends ImageGray<T> depthImage

  • Constructor Details

    • DepthSparse3D

      protected DepthSparse3D(double depthScale)
      Configures parameters
      Parameters:
      depthScale - Used to change units found in the depth image.

  • Method Details

    • configure

      public void configure(LensDistortionNarrowFOV model, PixelTransform<Point2D_F32> visualToDepth)
      Configures intrinsic camera parameters
      Parameters:
      model - Model for narrow FOV cameras
      visualToDepth - Transform from visual to depth camera pixel coordinate systems.

    • setDepthImage

      public void setDepthImage(T depthImage)
      Sets the depth image. A reference is saved internally.
      Parameters:
      depthImage - Image containing depth information.

    • process

      public boolean process(int x, int y)
      Given a pixel coordinate in the visual camera, compute the 3D coordinate of that point.
      Parameters:
      x - x-coordinate of point in visual camera
      y - y-coordinate of point in visual camera
      Returns:
      true if a 3D point could be computed and false if not

    • getWorldPt

      public Point3D_F64 getWorldPt()
      The found 3D coordinate of the point in the visual camera coordinate system. Is only valid when process(int, int) returns true.
      Returns:
      3D coordinate of point in visual camera coordinate system

    • lookupDepth

      protected abstract double lookupDepth(int depthX, int depthY)
      Internal function which looks up the pixel's depth. Depth is defined as the value of the z-coordinate which is pointing out of the camera. If there is no depth measurement at this location return 0.
      Parameters:
      depthX - x-coordinate of pixel in depth camera
      depthY - y-coordinate of pixel in depth camera
      Returns:
      depth at the specified coordinate