Package boofcv.alg.sfm

Class StereoProcessingBase<T extends ImageGray<T>>

java.lang.Object

boofcv.alg.sfm.StereoProcessingBase<T>

Direct Known Subclasses:

StereoSparse3D

public class StereoProcessingBase<T extends ImageGray<T>>
extends Object

Base class that configures stereo processing. Created distortion for converting image from its input image into an undistorted rectified image ready for stereo processing.

Field Summary

Fields

Modifier and Type	Field	Description
protected double	baseline
protected double	cx
protected double	cy
protected double	fx
protected double	fy
protected T	imageLeftRect
protected T	imageRightRect
protected Point3D_F64	pointRect
protected DMatrixRMaj	rect1
protected DMatrixRMaj	rect2
protected DMatrixRMaj	rectK
protected DMatrixRMaj	rectR

Constructor Summary

Constructors

Constructor	Description
StereoProcessingBase(Class<T> imageType)	Declares internal data structures

Method Summary

Modifier and Type	Method	Description
void	computeHomo3D(double x, double y, Point3D_F64 pointLeft)	Given a coordinate of a point in the left rectified frame, compute the point's 3D coordinate in the camera's reference frame in homogeneous coordinates.
T	getImageLeftRect()	Rectified left image
T	getImageRightRect()	Rectified right image
DMatrixRMaj	getRect1()
DMatrixRMaj	getRect2()
DMatrixRMaj	getRectK()	Intrinsic camera calibration matrix for both cameras after rectification
void	initialize()	Initializes stereo processing.
void	setCalibration(StereoParameters stereoParam)	Specifies stereo parameters
void	setImages(T leftImage, T rightImage)	Sets the input images.

Methods inherited from class java.lang.Object

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

Field Details

imageLeftRect

protected T extends ImageGray<T> imageLeftRect

imageRightRect

protected T extends ImageGray<T> imageRightRect

rect1

protected DMatrixRMaj rect1

rect2

protected DMatrixRMaj rect2

rectK

protected DMatrixRMaj rectK

rectR

protected DMatrixRMaj rectR

pointRect

protected Point3D_F64 pointRect

baseline

protected double baseline

cx

protected double cx

cy

protected double cy

fx

protected double fx

fy

protected double fy

Constructor Details

StereoProcessingBase

public StereoProcessingBase(Class<T> imageType)

Declares internal data structures

Parameters:

imageType - Input image type

Method Details

setCalibration

public void setCalibration(StereoParameters stereoParam)

Specifies stereo parameters

Parameters:

stereoParam - stereo parameters

computeHomo3D

public void computeHomo3D(double x,
 double y,
 Point3D_F64 pointLeft)

Given a coordinate of a point in the left rectified frame, compute the point's 3D coordinate in the camera's reference frame in homogeneous coordinates. To convert the coordinate into normal 3D, divide each element by the disparity.

Parameters:

x - x-coordinate of pixel in rectified left image

y - y-coordinate of pixel in rectified left image

pointLeft - Storage for 3D coordinate of point in homogeneous coordinates. w = disparity

setImages

public void setImages(T leftImage,
 T rightImage)

Sets the input images. Processing is delayed until initialize() has been called.

Parameters:

leftImage - Left image

rightImage - Right image

initialize

public void initialize()

Initializes stereo processing.

getImageLeftRect

public T getImageLeftRect()

Rectified left image

getImageRightRect

public T getImageRightRect()

Rectified right image

getRectK

public DMatrixRMaj getRectK()

Intrinsic camera calibration matrix for both cameras after rectification

Returns:

camera calibration matrix

getRect1

public DMatrixRMaj getRect1()

getRect2

public DMatrixRMaj getRect2()