Example Stereo Disparity 3D - Revision history

Peter at 01:02, 3 September 2022

2022-09-03T01:02:18Z

← Older revision		Revision as of 01:02, 3 September 2022
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	Related Examples:		Related Examples:
	* [[Example_Stereo_Disparity\| Stereo Disparity]]		* [[Example_Stereo_Disparity\| Stereo Disparity]]
			* [[Example_Stereo_Mesh\| Disparity to Mesh]]

	= Example Code =		= Example Code =

Peter at 00:53, 3 September 2022

2022-09-03T00:53:55Z

← Older revision		Revision as of 00:53, 3 September 2022
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	Example Code:		Example Code:
	* [https://github.com/lessthanoptimal/BoofCV/blob/v0.38/examples/src/main/java/boofcv/examples/stereo/ExampleStereoDisparity3D.java ExampleStereoDisparity3D.java]		* [https://github.com/lessthanoptimal/BoofCV/blob/v0.41/examples/src/main/java/boofcv/examples/stereo/ExampleStereoDisparity3D.java ExampleStereoDisparity3D.java]

	Concepts:		Concepts:

Peter at 20:13, 12 July 2021

2021-07-12T20:13:55Z

← Older revision		Revision as of 20:13, 12 July 2021
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	Example Code:		Example Code:
	* [https://github.com/lessthanoptimal/BoofCV/blob/v0.36/examples/src/main/java/boofcv/examples/stereo/ExampleStereoDisparity3D.java ExampleStereoDisparity3D.java]		* [https://github.com/lessthanoptimal/BoofCV/blob/v0.38/examples/src/main/java/boofcv/examples/stereo/ExampleStereoDisparity3D.java ExampleStereoDisparity3D.java]

	Concepts:		Concepts:
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	/**		/**
	* Expanding upon ExampleStereoDisparity, this example demonstrates how to rescale an image for stereo processing and		* Expanding upon ExampleStereoDisparity, this example demonstrates how to rescale an image for stereo processing and
	* then compute its 3D point cloud. Images are often rescaled to improve speed and some times quality. Creating		* then compute its 3D point cloud. Images are often rescaled to improve speed and some times quality. Creating
	* 3D point clouds from disparity images is easy and well documented in the literature, but there are some nuances		* 3D point clouds from disparity images is easy and well documented in the literature, but there are some nuances
	* to it.		* to it.
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	disparityParameters.disparityMin = disparityMin;		disparityParameters.disparityMin = disparityMin;
	disparityParameters.disparityRange = disparityRange;		disparityParameters.disparityRange = disparityRange;
	disparityParameters.rotateToRectified.~~set~~(rectR);		disparityParameters.rotateToRectified.setTo(rectR);
	PerspectiveOps.matrixToPinhole(rectK, rectLeft.width, rectLeft.height, disparityParameters.pinhole);		PerspectiveOps.matrixToPinhole(rectK, rectLeft.width, rectLeft.height, disparityParameters.pinhole);

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	JComponent viewer = computeAndShowCloud(param, rectLeft, rectAlg, disparity);		JComponent viewer = computeAndShowCloud(param, rectLeft, rectAlg, disparity);

	// display the results. Click and drag to change point cloud camera		// display the results. Click and drag to change point cloud camera
	BufferedImage visualized = VisualizeImageData.disparity(disparity, null, disparityRange, 0);		BufferedImage visualized = VisualizeImageData.disparity(disparity, null, disparityRange, 0);
	ShowImages.showWindow(visualized, "Disparity", true);		ShowImages.showWindow(visualized, "Disparity", true);

Peter at 02:50, 22 December 2020

2020-12-22T02:50:39Z

Show changes

Peter at 04:38, 22 June 2020

2020-06-22T04:38:18Z

← Older revision		Revision as of 04:38, 22 June 2020
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	<center>		<center>
	{\| class="wikitable" width="400pt"		{\| class="wikitable" width="400pt"
	\| [[file:Example_stereo_disparity3d_pointcloud.jpg\|400px]] \|\| {{#ev:youtube\|https://www.youtube.com/watch?v=8pn9Ebw90uk~~&t=672s~~\|400\|center}}		\| [[file:Example_stereo_disparity3d_pointcloud.jpg\|400px]] \|\| {{#ev:youtube\|https://www.youtube.com/watch?v=8pn9Ebw90uk\|400\|center\|\|\|start=672}}
	\|-		\|-
	\| 3D point cloud generated from disparity image. \|\| Stereo Update Video		\| 3D point cloud generated from disparity image. \|\| Stereo Update Video

Peter at 04:29, 22 June 2020

2020-06-22T04:29:54Z

← Older revision		Revision as of 04:29, 22 June 2020
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	<center>		<center>
	~~<gallery widths~~=~~320px heights~~=~~240px>~~		{\| class="wikitable" width="400pt"
	file:Example_stereo_disparity3d_pointcloud.jpg \| 3D point cloud generated from disparity image.		\| [[file:Example_stereo_disparity3d_pointcloud.jpg\|400px]] \|\| {{#ev:youtube\|https://www.youtube.com/watch?v=8pn9Ebw90uk&t=672s\|400\|center}}
	~~</gallery>~~		\|-
			\| 3D point cloud generated from disparity image. \|\| Stereo Update Video
			\|}
	</center>		</center>

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	* Point clouds		* Point clouds

	~~Relevant Applets:~~		Related Videos
	* [~~[Applet_Stereo_Disparity\|~~ Stereo ~~Disparity]~~]		* [https://www.youtube.com/watch?v=8pn9Ebw90uk&t=672s Stereo Update 2020]

	Related Examples:		Related Examples:

Peter at 01:11, 24 December 2019

2019-12-24T01:11:48Z

← Older revision		Revision as of 01:11, 24 December 2019
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	Example Code:		Example Code:
	* [https://github.com/lessthanoptimal/BoofCV/blob/v0.31/examples/src/main/java/boofcv/examples/stereo/ExampleStereoDisparity3D.java ExampleStereoDisparity3D.java]		* [https://github.com/lessthanoptimal/BoofCV/blob/v0.35/examples/src/main/java/boofcv/examples/stereo/ExampleStereoDisparity3D.java ExampleStereoDisparity3D.java]

	Concepts:		Concepts:
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	public class ExampleStereoDisparity3D {		public class ExampleStereoDisparity3D {

	// Specifies what ~~size input images~~ are ~~scaled to~~		// Specifies what disparity values are considered
	~~public static final double scale = 0.5;~~		public static final int minDisparity = 10;
			public static final int rangeDisparity = 60;
	~~// Specifies what range of disparity is~~ considered
	public static final int minDisparity = 0;
	~~public static final int maxDisparity = 40~~;
	public static final int rangeDisparity = ~~maxDisparity-minDisparity~~;

	public static void main( String args[] ) {		public static void main( String args[] ) {
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	GrayU8 distLeft = ConvertBufferedImage.convertFrom(origLeft, (GrayU8) null);		GrayU8 distLeft = ConvertBufferedImage.convertFrom(origLeft, (GrayU8) null);
	GrayU8 distRight = ConvertBufferedImage.convertFrom(origRight,(GrayU8)null);		GrayU8 distRight = ConvertBufferedImage.convertFrom(origRight,(GrayU8)null);

	~~// re-scale input images~~
	~~GrayU8 scaledLeft = new GrayU8((int)(distLeft.widthscale),(int)(distLeft.heightscale));~~
	~~GrayU8 scaledRight = new GrayU8((int)(distRight.widthscale),(int)(distRight.heightscale));~~

	~~new FDistort(distLeft,scaledLeft).scaleExt().apply();~~
	~~new FDistort(distRight,scaledRight).scaleExt().apply();~~

	~~// Don't forget to adjust camera parameters for the change in scale!~~
	~~PerspectiveOps.scaleIntrinsic(param.left, scale);~~
	~~PerspectiveOps.scaleIntrinsic(param.right,scale);~~

	// rectify images and compute disparity		// rectify images and compute disparity
	GrayU8 rectLeft = ~~new GrayU8~~(~~scaledLeft.width,scaledLeft.height~~);		GrayU8 rectLeft = distLeft.createSameShape();
	GrayU8 rectRight = ~~new GrayU8~~(~~scaledRight.width,scaledRight.height~~);		GrayU8 rectRight = distRight.createSameShape();

	RectifyCalibrated rectAlg = ExampleStereoDisparity.rectify(~~scaledLeft~~,~~scaledRight~~,param,rectLeft,rectRight);		RectifyCalibrated rectAlg = ExampleStereoDisparity.rectify(distLeft,distRight,param,rectLeft,rectRight);

	// GrayU8 disparity = ExampleStereoDisparity.denseDisparity(rectLeft, rectRight, 3,minDisparity, ~~maxDisparity~~);		// GrayU8 disparity = ExampleStereoDisparity.denseDisparity(rectLeft, rectRight, 3,minDisparity, rangeDisparity);
	GrayF32 disparity = ExampleStereoDisparity.denseDisparitySubpixel(rectLeft, rectRight, 3, minDisparity, ~~maxDisparity~~);		GrayF32 disparity = ExampleStereoDisparity.denseDisparitySubpixel(
			rectLeft, rectRight, 5, minDisparity, rangeDisparity);

	// ------------- Convert disparity image into a 3D point cloud		// ------------- Convert disparity image into a 3D point cloud
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	pcv.setTranslationStep(1.5);		pcv.setTranslationStep(1.5);

	~~List<Point3D_F64> temp = new ArrayList<>();~~
	Point3D_F64 pointRect = new Point3D_F64();		Point3D_F64 pointRect = new Point3D_F64();
	Point3D_F64 pointLeft = new Point3D_F64();		Point3D_F64 pointLeft = new Point3D_F64();
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	// Configure the display		// Configure the display
	// pcv.~~addCloud~~(~~temp~~);		// pcv.setFog(true);
	// pcv.~~setShowAxis~~(~~true~~);		// pcv.setClipDistance(baseline*45);
			// PeriodicColorizer colorizer = new TwoAxisRgbPlane.Z_XY(4.0);
			// colorizer.setPeriod(baseline*5);
			// pcv.setColorizer(colorizer); // sometimes pseudo color can be easier to view
			pcv.setDotSize(1);
	pcv.setCameraHFov(PerspectiveOps.computeHFov(param.left));		pcv.setCameraHFov(PerspectiveOps.computeHFov(param.left));
	pcv.setCameraToWorld(cameraToWorld);		pcv.setCameraToWorld(cameraToWorld);
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	// display the results. Click and drag to change point cloud camera		// display the results. Click and drag to change point cloud camera
	BufferedImage visualized = VisualizeImageData.disparity(disparity, null,~~minDisparity, maxDisparity~~,0);		BufferedImage visualized = VisualizeImageData.disparity(disparity, null,rangeDisparity,0);
	ShowImages.showWindow(visualized,"Disparity", true);		ShowImages.showWindow(visualized,"Disparity", true);
	ShowImages.showWindow(viewer,"Point Cloud", true);		ShowImages.showWindow(viewer,"Point Cloud", true);

Peter at 03:12, 17 October 2018

2018-10-17T03:12:10Z

← Older revision		Revision as of 03:12, 17 October 2018
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	Example Code:		Example Code:
	* [https://github.com/lessthanoptimal/BoofCV/blob/v0.27/examples/src/boofcv/examples/stereo/ExampleStereoDisparity3D.java ExampleStereoDisparity3D.java]		* [https://github.com/lessthanoptimal/BoofCV/blob/v0.31/examples/src/main/java/boofcv/examples/stereo/ExampleStereoDisparity3D.java ExampleStereoDisparity3D.java]

	Concepts:		Concepts:
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	DMatrixRMaj rectK = rectAlg.getCalibrationMatrix();		DMatrixRMaj rectK = rectAlg.getCalibrationMatrix();
	DMatrixRMaj rectR = rectAlg.getRectifiedRotation();		DMatrixRMaj rectR = rectAlg.getRectifiedRotation();

	~~// used to display the point cloud~~
	~~PointCloudViewer viewer = new PointCloudViewer(rectK, 10);~~
	~~viewer.setPreferredSize(new Dimension(rectLeft.width,rectLeft.height));~~

	// extract intrinsic parameters from rectified camera		// extract intrinsic parameters from rectified camera
	double baseline = param.getBaseline();		double baseline = param.getBaseline()*0.1;
	double fx = rectK.get(0,0);		double fx = rectK.get(0,0);
	double fy = rectK.get(1,1);		double fy = rectK.get(1,1);
	double cx = rectK.get(0,2);		double cx = rectK.get(0,2);
	double cy = rectK.get(1,2);		double cy = rectK.get(1,2);

			double maxZ = baseline*100;

	// Iterate through each pixel in disparity image and compute its 3D coordinate		// Iterate through each pixel in disparity image and compute its 3D coordinate
			PointCloudViewer pcv = VisualizeData.createPointCloudViewer();
			pcv.setTranslationStep(1.5);

			List<Point3D_F64> temp = new ArrayList<>();
	Point3D_F64 pointRect = new Point3D_F64();		Point3D_F64 pointRect = new Point3D_F64();
	Point3D_F64 pointLeft = new Point3D_F64();		Point3D_F64 pointLeft = new Point3D_F64();
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	// skip over pixels were no correspondence was found		// skip over pixels were no correspondence was found
	if( d >= rangeDisparity )		if( d >= rangeDisparity \|\| d <= 0 )
	continue;		continue;

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	pointRect.x = pointRect.z*(x - cx)/fx;		pointRect.x = pointRect.z*(x - cx)/fx;
	pointRect.y = pointRect.z*(y - cy)/fy;		pointRect.y = pointRect.z*(y - cy)/fy;

			// prune points which are likely to be noise
			if( pointRect.z >= maxZ )
			continue;

	// rotate into the original left camera frame		// rotate into the original left camera frame
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	// add pixel to the view for display purposes and sets its gray scale value		// add pixel to the view for display purposes and sets its gray scale value
	int v = rectLeft.unsafe_get(x, y);		int v = rectLeft.unsafe_get(x, y);
	~~viewer~~.addPoint(pointLeft.x, pointLeft.y, pointLeft.z, v << 16 \| v << 8 \| v);		pcv.addPoint(pointLeft.x,pointLeft.y,pointLeft.z,v << 16 \| v << 8 \| v);
			// temp.add( pointLeft.copy() );
	}		}
	}		}

			// move it back a bit to make the 3D structure more apparent
			Se3_F64 cameraToWorld = new Se3_F64();
			cameraToWorld.T.z = -baseline*5;
			cameraToWorld.T.x = baseline*12;
			ConvertRotation3D_F64.eulerToMatrix(EulerType.XYZ,0.1,-0.4,0,cameraToWorld.R);

			// Configure the display
			// pcv.addCloud(temp);
			// pcv.setShowAxis(true);
			pcv.setCameraHFov(PerspectiveOps.computeHFov(param.left));
			pcv.setCameraToWorld(cameraToWorld);
			JComponent viewer = pcv.getComponent();
			viewer.setPreferredSize(new Dimension(600,600*param.left.height/param.left.width));

	// display the results. Click and drag to change point cloud camera		// display the results. Click and drag to change point cloud camera
	BufferedImage visualized = VisualizeImageData.disparity(disparity, null,minDisparity, maxDisparity,0);		BufferedImage visualized = VisualizeImageData.disparity(disparity, null,minDisparity, maxDisparity,0);
	ShowImages.showWindow(visualized,"Disparity");		ShowImages.showWindow(visualized,"Disparity", true);
	ShowImages.showWindow(viewer,"Point Cloud");		ShowImages.showWindow(viewer,"Point Cloud", true);
	}		}
	}		}
	</syntaxhighlight>		</syntaxhighlight>

Peter at 16:18, 17 August 2017

2017-08-17T16:18:11Z

← Older revision		Revision as of 16:18, 17 August 2017
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	Example Code:		Example Code:
	* [https://github.com/lessthanoptimal/BoofCV/blob/v0.25/examples/src/boofcv/examples/stereo/ExampleStereoDisparity3D.java ExampleStereoDisparity3D.java]		* [https://github.com/lessthanoptimal/BoofCV/blob/v0.27/examples/src/boofcv/examples/stereo/ExampleStereoDisparity3D.java ExampleStereoDisparity3D.java]

	Concepts:		Concepts:
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	// The point cloud will be in the left cameras reference frame		// The point cloud will be in the left cameras reference frame
	~~DenseMatrix64F~~ rectK = rectAlg.getCalibrationMatrix();		DMatrixRMaj rectK = rectAlg.getCalibrationMatrix();
	~~DenseMatrix64F~~ rectR = rectAlg.getRectifiedRotation();		DMatrixRMaj rectR = rectAlg.getRectifiedRotation();

	// used to display the point cloud		// used to display the point cloud

Peter at 01:03, 2 December 2016

2016-12-02T01:03:58Z

← Older revision		Revision as of 01:03, 2 December 2016
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	Example Code:		Example Code:
	* [https://github.com/lessthanoptimal/BoofCV/blob/v0.23/examples/src/boofcv/examples/stereo/ExampleStereoDisparity3D.java ExampleStereoDisparity3D.java]		* [https://github.com/lessthanoptimal/BoofCV/blob/v0.25/examples/src/boofcv/examples/stereo/ExampleStereoDisparity3D.java ExampleStereoDisparity3D.java]

	Concepts:		Concepts:
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	String imageDir = UtilIO.pathExample("stereo/");		String imageDir = UtilIO.pathExample("stereo/");

	StereoParameters param = ~~UtilIO~~.~~loadXML~~(calibDir , "stereo.~~xml~~");		StereoParameters param = CalibrationIO.load(new File(calibDir , "stereo.yaml"));

	// load and convert images into a BoofCV format		// load and convert images into a BoofCV format