Class StereoSparse3D<T extends ImageGray<T>>

java.lang.Object
boofcv.alg.sfm.StereoProcessingBase<T>
boofcv.alg.sfm.StereoSparse3D<T>
All Implemented Interfaces:
ImagePixelTo3D

public class StereoSparse3D<T extends ImageGray<T>>
extends StereoProcessingBase<T>
implements ImagePixelTo3D
Computes stereo disparity on a per pixel basis as requested.
  • Constructor Details

    • StereoSparse3D

      public StereoSparse3D​(StereoDisparitySparse<T> disparity, Class<T> imageType)
      Configures and declares internal data
      Parameters:
      imageType - Input image type
  • Method Details

    • setCalibration

      public void setCalibration​(StereoParameters stereoParam)
      Description copied from class: StereoProcessingBase
      Specifies stereo parameters
      Overrides:
      setCalibration in class StereoProcessingBase<T extends ImageGray<T>>
      Parameters:
      stereoParam - stereo parameters
    • setImages

      public void setImages​(T leftImage, T rightImage)
      Description copied from class: StereoProcessingBase
      Sets the input images. Processing is delayed until StereoProcessingBase.initialize() has been called.
      Overrides:
      setImages in class StereoProcessingBase<T extends ImageGray<T>>
      Parameters:
      leftImage - Left image
      rightImage - Right image
    • process

      public boolean process​(double x, double y)
      Takes in pixel coordinates from the left camera in the original image coordinate system
      Specified by:
      process in interface ImagePixelTo3D
      Parameters:
      x - x-coordinate of the pixel
      y - y-coordinate of the pixel
      Returns:
      true if successful
    • getX

      public double getX()
      Description copied from interface: ImagePixelTo3D
      Found x-coordinate of point in camera coordinate system.
      Specified by:
      getX in interface ImagePixelTo3D
      Returns:
      x-coordinate
    • getY

      public double getY()
      Description copied from interface: ImagePixelTo3D
      Found y-coordinate of point in camera coordinate system.
      Specified by:
      getY in interface ImagePixelTo3D
      Returns:
      y-coordinate
    • getZ

      public double getZ()
      Description copied from interface: ImagePixelTo3D
      Found z-coordinate of point in camera coordinate system.
      Specified by:
      getZ in interface ImagePixelTo3D
      Returns:
      z-coordinate
    • getW

      public double getW()
      Description copied from interface: ImagePixelTo3D
      Found w-coordinate of point in camera coordinate system. If a point is at infinity then this value will be zero.
      Specified by:
      getW in interface ImagePixelTo3D
      Returns:
      w-coordinate