https://boofcv.org/index.php?action=history&feed=atom&title=Example_Stereo_Mesh 2026-05-14T11:45:36Z Revision history for this page on the wiki MediaWiki 1.36.2 https://boofcv.org/index.php?title=Example_Stereo_Mesh&diff=3241&oldid=prev 2022-09-03T02:49:42Z

<p></p> <table style="background-color: #fff; color: #202122;" data-mw="interface"> <col class="diff-marker" /> <col class="diff-content" /> <col class="diff-marker" /> <col class="diff-content" /> <tr class="diff-title" lang="en"> <td colspan="2" style="background-color: #fff; color: #202122; text-align: center;">← Older revision</td> <td colspan="2" style="background-color: #fff; color: #202122; text-align: center;">Revision as of 02:49, 3 September 2022</td> </tr><tr><td colspan="2" class="diff-lineno" id="mw-diff-left-l1">Line 1:</td> <td colspan="2" class="diff-lineno">Line 1:</td></tr> <tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>&lt;center&gt;</div></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>&lt;center&gt;</div></td></tr> <tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>&lt;gallery heights=350 widths=350 perrow=4 &gt;</div></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>&lt;gallery heights=350 widths=350 perrow=4 &gt;</div></td></tr> <tr><td class="diff-marker" data-marker="−"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div>File:Example_disparity_mesh_cloudcompare.jpg| Mesh generated <del style="font-weight: bold; text-decoration: none;">in BoofCV </del>from stereo image <del style="font-weight: bold; text-decoration: none;">displayed in Cloud Compare</del></div></td><td class="diff-marker" data-marker="+"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #a3d3ff; vertical-align: top; white-space: pre-wrap;"><div>File:Example_disparity_mesh_cloudcompare.jpg| Mesh <ins style="font-weight: bold; text-decoration: none;">viewed in Cloud Compare and </ins>generated from <ins style="font-weight: bold; text-decoration: none;">a </ins>stereo <ins style="font-weight: bold; text-decoration: none;">disparity </ins>image<ins style="font-weight: bold; text-decoration: none;">.</ins></div></td></tr> <tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>&lt;/gallery&gt;</div></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>&lt;/gallery&gt;</div></td></tr> <tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>&lt;/center&gt;</div></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>&lt;/center&gt;</div></td></tr> </table>

Peter https://boofcv.org/index.php?title=Example_Stereo_Mesh&diff=3233&oldid=prev 2022-09-03T01:01:45Z

<p></p> <table style="background-color: #fff; color: #202122;" data-mw="interface"> <col class="diff-marker" /> <col class="diff-content" /> <col class="diff-marker" /> <col class="diff-content" /> <tr class="diff-title" lang="en"> <td colspan="2" style="background-color: #fff; color: #202122; text-align: center;">← Older revision</td> <td colspan="2" style="background-color: #fff; color: #202122; text-align: center;">Revision as of 01:01, 3 September 2022</td> </tr><tr><td colspan="2" class="diff-lineno" id="mw-diff-left-l17">Line 17:</td> <td colspan="2" class="diff-lineno">Line 17:</td></tr> <tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>Related Examples:</div></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>Related Examples:</div></td></tr> <tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>* [[Example_Stereo_Disparity| Stereo Disparity]]</div></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>* [[Example_Stereo_Disparity| Stereo Disparity]]</div></td></tr> <tr><td colspan="2"></td><td class="diff-marker" data-marker="+"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #a3d3ff; vertical-align: top; white-space: pre-wrap;"><div><ins style="font-weight: bold; text-decoration: none;">* [[Example Stereo Disparity 3D| Disparity to 3D Cloud]]</ins></div></td></tr> <tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><br/></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><br/></td></tr> <tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>= Example Code =</div></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>= Example Code =</div></td></tr> </table>

Peter https://boofcv.org/index.php?title=Example_Stereo_Mesh&diff=3232&oldid=prev 2022-09-03T01:00:29Z

<p>Created page with &quot;&lt;center&gt; &lt;gallery heights=350 widths=350 perrow=4 &gt; File:Example_disparity_mesh_cloudcompare.jpg| Mesh generated in BoofCV from stereo image displayed in Cloud Compare &lt;/galle...&quot;</p> <p><b>New page</b></p><div>&lt;center&gt;<br /> &lt;gallery heights=350 widths=350 perrow=4 &gt;<br /> File:Example_disparity_mesh_cloudcompare.jpg| Mesh generated in BoofCV from stereo image displayed in Cloud Compare<br /> &lt;/gallery&gt;<br /> &lt;/center&gt;<br /> <br /> <br /> Shows you how to convert a disparity image into a 3D mesh. Meshes are typically easier to view in 3rd party libraries.<br /> <br /> Example Code:<br /> * [https://github.com/lessthanoptimal/BoofCV/blob/v0.41/examples/src/main/java/boofcv/examples/stereo/ExampleStereoMesh.java ExampleStereoMesh.java]<br /> <br /> Concepts:<br /> * Stereo Disparity<br /> * Filtering<br /> <br /> Related Examples:<br /> * [[Example_Stereo_Disparity| Stereo Disparity]]<br /> <br /> = Example Code =<br /> <br /> &lt;syntaxhighlight lang=&quot;java&quot;&gt;<br /> /**<br /> * Example showing how you can convert a disparity image into a 3D mesh.<br /> *<br /> * @author Peter Abeles<br /> */<br /> public class ExampleStereoMesh {<br /> static int disparityMin = 5;<br /> static int disparityRange = 60;<br /> <br /> public static void main( String[] args ) {<br /> String calibDir = UtilIO.pathExample(&quot;calibration/stereo/Bumblebee2_Chess/&quot;);<br /> String imageDir = UtilIO.pathExample(&quot;stereo/&quot;);<br /> <br /> StereoParameters param = CalibrationIO.load(new File(calibDir, &quot;stereo.yaml&quot;));<br /> <br /> // load and convert images into a BoofCV format<br /> BufferedImage origLeft = UtilImageIO.loadImage(imageDir, &quot;sundial01_left.jpg&quot;);<br /> BufferedImage origRight = UtilImageIO.loadImage(imageDir, &quot;sundial01_right.jpg&quot;);<br /> <br /> GrayU8 distLeft = ConvertBufferedImage.convertFrom(origLeft, (GrayU8)null);<br /> GrayU8 distRight = ConvertBufferedImage.convertFrom(origRight, (GrayU8)null);<br /> <br /> // rectify images<br /> GrayU8 rectLeft = distLeft.createSameShape();<br /> GrayU8 rectRight = distRight.createSameShape();<br /> <br /> // Using a previous example, rectify then compute the disparity image<br /> RectifyCalibrated rectifier = ExampleStereoDisparity.rectify(distLeft, distRight, param, rectLeft, rectRight);<br /> GrayF32 disparity = ExampleStereoDisparity.denseDisparitySubpixel(<br /> rectLeft, rectRight, 3, disparityMin, disparityRange);<br /> <br /> // Remove speckle and smooth the disparity image. Typically this results in a less chaotic 3D model<br /> var configSpeckle = new ConfigSpeckleFilter();<br /> configSpeckle.similarTol = 1.0f; // Two pixels are connected if their disparity is this similar<br /> configSpeckle.maximumArea.setFixed(200); // probably the most important parameter, speckle size<br /> DisparitySmoother&lt;GrayU8, GrayF32&gt; smoother =<br /> FactoryStereoDisparity.removeSpeckle(configSpeckle, GrayF32.class);<br /> <br /> smoother.process(rectLeft, disparity, disparityRange);<br /> <br /> // Put disparity parameters into a format that the meshing algorithm can understand<br /> var parameters = new DisparityParameters();<br /> parameters.disparityRange = disparityRange;<br /> parameters.disparityMin = disparityMin;<br /> PerspectiveOps.matrixToPinhole(rectifier.getCalibrationMatrix(), rectLeft.width, rectLeft.height, parameters.pinhole);<br /> parameters.baseline = param.getBaseline()/10;<br /> <br /> // Convert the disparity image into a polygon mesh<br /> var alg = new DepthImageToMeshGridSample();<br /> alg.samplePeriod.setFixed(2);<br /> alg.processDisparity(parameters, disparity, /* max disparity jump */ 2);<br /> VertexMesh mesh = alg.getMesh();<br /> <br /> // Specify the color of each vertex<br /> var colors = new DogArray_I32(mesh.vertexes.size());<br /> DogArray&lt;Point2D_F64&gt; pixels = alg.getVertexPixels();<br /> for (int i = 0; i &lt; pixels.size; i++) {<br /> Point2D_F64 p = pixels.get(i);<br /> int v = rectLeft.get((int)p.x, (int)p.y);<br /> colors.add(v &lt;&lt; 16 | v &lt;&lt; 8 | v);<br /> }<br /> <br /> // Save results. Display using a 3rd party application<br /> try (OutputStream out = new FileOutputStream(&quot;mesh.ply&quot;)) {<br /> PointCloudIO.save3D(PointCloudIO.Format.PLY, mesh, colors, out);<br /> } catch (IOException e) {<br /> throw new RuntimeException(e);<br /> }<br /> }<br /> }<br /> &lt;/syntaxhighlight&gt;</div>

Peter