https://boofcv.org/index.php?title=Example_Multi_Baseline_Stereo&feed=atom&action=history
Example Multi Baseline Stereo - Revision history
2024-03-28T16:22:58Z
Revision history for this page on the wiki
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https://boofcv.org/index.php?title=Example_Multi_Baseline_Stereo&diff=3221&oldid=prev
Peter at 00:43, 3 September 2022
2022-09-03T00:43:22Z
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<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 00:43, 3 September 2022</td>
</tr><tr><td colspan="2" class="diff-lineno" id="mw-diff-left-l12">Line 12:</td>
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<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>
<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>* [https://github.com/lessthanoptimal/BoofCV/blob/v0.<del style="font-weight: bold; text-decoration: none;">40</del>/examples/src/main/java/boofcv/examples/reconstruction/ExampleMultiBaselineStereo.java ExampleMultiBaselineStereo.java]</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>* [https://github.com/lessthanoptimal/BoofCV/blob/v0.<ins style="font-weight: bold; text-decoration: none;">41</ins>/examples/src/main/java/boofcv/examples/reconstruction/ExampleMultiBaselineStereo.java ExampleMultiBaselineStereo.java]</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>Concepts:</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>Concepts:</div></td></tr>
<tr><td colspan="2" class="diff-lineno" id="mw-diff-left-l40">Line 40:</td>
<td colspan="2" class="diff-lineno">Line 40:</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.compute("tree_snow_01.mp4", true);</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.compute("tree_snow_01.mp4", true);</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.compute("ditch_02.mp4", true);</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.compute("ditch_02.mp4", true);</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>// example.compute("holiday_display_01.mp4<del style="font-weight: bold; text-decoration: none;">"</del>", true);</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>// example.compute("holiday_display_01.mp4", true);</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>// example.compute("log_building_02.mp4<del style="font-weight: bold; text-decoration: none;">"</del>", true);</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>// example.compute("log_building_02.mp4", true);</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.compute("drone_park_01.mp4", false);</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.compute("drone_park_01.mp4", false);</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.compute("stone_sign.mp4", true);</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.compute("stone_sign.mp4", true);</div></td></tr>
<tr><td colspan="2" class="diff-lineno" id="mw-diff-left-l115">Line 115:</td>
<td colspan="2" class="diff-lineno">Line 115:</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> // We will display intermediate results as they come in</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> // We will display intermediate results as they come in</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> multiBaseline.setListener(( leftView, rightView, rectLeft, rectRight,</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> multiBaseline.setListener(( leftView, rightView, rectLeft, rectRight,</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> disparity<del style="font-weight: bold; text-decoration: none;">, mask</del>, parameters, rect ) -> {</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> disparity, parameters, rect ) -> {</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> // Visualize the rectified stereo pair. You can interact with this window and verify</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> // Visualize the rectified stereo pair. You can interact with this window and verify</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> // that the y-axis is aligned</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> // that the y-axis is aligned</div></td></tr>
<tr><td colspan="2" class="diff-lineno" id="mw-diff-left-l122">Line 122:</td>
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<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> ConvertBufferedImage.convertTo(rectRight, null));</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> ConvertBufferedImage.convertTo(rectRight, null));</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" 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><del style="font-weight: bold; text-decoration: none;"> // Cleans up the disparity image by zeroing out pixels that are outside the original image bounds</del></div></td><td colspan="2"></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><del style="font-weight: bold; text-decoration: none;"> RectifyImageOps.applyMask(disparity, mask, 0);</del></div></td><td colspan="2"></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> // Display the colorized 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> // Display the colorized disparity</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> BufferedImage colorized = VisualizeImageData.disparity(disparity, null, parameters.disparityRange, 0);</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> BufferedImage colorized = VisualizeImageData.disparity(disparity, null, parameters.disparityRange, 0);</div></td></tr>
<tr><td colspan="2" class="diff-lineno" id="mw-diff-left-l139">Line 139:</td>
<td colspan="2" class="diff-lineno">Line 137:</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> // Extract the point cloud from the fused disparity image</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> // Extract the point cloud from the fused disparity image</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> GrayF32 fusedDisparity = multiBaseline.<del style="font-weight: bold; text-decoration: none;">getFusedDisparity();</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> GrayF32 fusedDisparity = multiBaseline.<ins style="font-weight: bold; text-decoration: none;">getFusedInvDepth</ins>();</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><del style="font-weight: bold; text-decoration: none;"> DisparityParameters fusedParam = multiBaseline.getFusedParam</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> BufferedImage colorizedDisp = VisualizeImageData.<ins style="font-weight: bold; text-decoration: none;">inverseDepth</ins>(fusedDisparity, null, <ins style="font-weight: bold; text-decoration: none;">-1f</ins>, 0);</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> BufferedImage colorizedDisp = VisualizeImageData.<del style="font-weight: bold; text-decoration: none;">disparity</del>(fusedDisparity, null, <del style="font-weight: bold; text-decoration: none;">fusedParam.disparityRange</del>, 0);</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> ShowImages.showWindow(colorizedDisp, "Fused <ins style="font-weight: bold; text-decoration: none;">InverseDepth</ins>");</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> ShowImages.showWindow(colorizedDisp, "Fused <del style="font-weight: bold; text-decoration: none;">Disparity</del>");</div></td><td colspan="2"></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> // Now compute the point cloud it represents and the color of each pixel.</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> // Now compute the point cloud it represents and the color of each pixel.</div></td></tr>
<tr><td colspan="2" class="diff-lineno" id="mw-diff-left-l157">Line 157:</td>
<td colspan="2" class="diff-lineno">Line 154:</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> colorImage.width, colorImage.height, null);</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> colorImage.width, colorImage.height, null);</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> Point2Transform2_F64 pixel_to_norm = new LensDistortionBrown(intrinsic).distort_F64(true, false);</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> Point2Transform2_F64 pixel_to_norm = new LensDistortionBrown(intrinsic).distort_F64(true, false);</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> MultiViewStereoOps.<del style="font-weight: bold; text-decoration: none;">disparityToCloud</del>(fusedDisparity<del style="font-weight: bold; text-decoration: none;">, fusedParam</del>, new PointToPixelTransform_F64(pixel_to_norm),</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> MultiViewStereoOps.<ins style="font-weight: bold; text-decoration: none;">inverseToCloud</ins>(fusedDisparity, new PointToPixelTransform_F64(pixel_to_norm),</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> ( pixX, pixY, x, y, z ) -> {</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> ( pixX, pixY, x, y, z ) -> {</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> cloud.grow().setTo(x, y, z);</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> cloud.grow().setTo(x, y, z);</div></td></tr>
</table>
Peter
https://boofcv.org/index.php?title=Example_Multi_Baseline_Stereo&diff=3164&oldid=prev
Peter at 23:20, 17 January 2022
2022-01-17T23:20:58Z
<p></p>
<table style="background-color: #fff; color: #202122;" data-mw="interface">
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<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 23:20, 17 January 2022</td>
</tr><tr><td colspan="2" class="diff-lineno" id="mw-diff-left-l12">Line 12:</td>
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<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>
<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>* [https://github.com/lessthanoptimal/BoofCV/blob/v0.<del style="font-weight: bold; text-decoration: none;">38</del>/examples/src/main/java/boofcv/examples/reconstruction/ExampleMultiBaselineStereo.java ExampleMultiBaselineStereo.java]</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>* [https://github.com/lessthanoptimal/BoofCV/blob/v0.<ins style="font-weight: bold; text-decoration: none;">40</ins>/examples/src/main/java/boofcv/examples/reconstruction/ExampleMultiBaselineStereo.java ExampleMultiBaselineStereo.java]</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>Concepts:</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>Concepts:</div></td></tr>
<tr><td colspan="2" class="diff-lineno" id="mw-diff-left-l56">Line 56:</td>
<td colspan="2" class="diff-lineno">Line 56:</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> // between views is contained in the pairwise graph. A View in the working graph has a reference to the view</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> // between views is contained in the pairwise graph. A View in the working graph has a reference to the view</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> // in the pairwise graph. Using that we will find all connected views that have a 3D relationship</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> // in the pairwise graph. Using that we will find all connected views that have a 3D relationship</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> <del style="font-weight: bold; text-decoration: none;">DogArray_I32 </del>pairedViewIdxs = new DogArray_I32();</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> <ins style="font-weight: bold; text-decoration: none;">var </ins>pairedViewIdxs = new DogArray_I32();</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> <del style="font-weight: bold; text-decoration: none;">TIntObjectMap<String> </del>sbaIndexToImageID = new TIntObjectHashMap<>();</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> <ins style="font-weight: bold; text-decoration: none;">var </ins>sbaIndexToImageID = new TIntObjectHashMap<<ins style="font-weight: bold; text-decoration: none;">String</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> // This relationship between pairwise and working graphs might seem (and is) a bit convoluted. The Pairwise</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> // This relationship between pairwise and working graphs might seem (and is) a bit convoluted. The Pairwise</div></td></tr>
<tr><td colspan="2" class="diff-lineno" id="mw-diff-left-l153">Line 153:</td>
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<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> imageLookup.loadImage(center.pview.id, colorImage);</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> imageLookup.loadImage(center.pview.id, colorImage);</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> // Since the fused image is in the original (i.e. distorted) pixel coordinates and is not rectified,</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> // Since the fused image is in the original (i.e. distorted) pixel coordinates and is not rectified,</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> // that needs to be taken in account by <del style="font-weight: bold; text-decoration: none;">undistoring </del>the image to create the point cloud.</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> // that needs to be taken in account by <ins style="font-weight: bold; text-decoration: none;">undistorting </ins>the image to create the point cloud.</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> CameraPinholeBrown intrinsic = BundleAdjustmentOps.convert(example.scene.cameras.get(center.<del style="font-weight: bold; text-decoration: none;">index</del>).model,</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> CameraPinholeBrown intrinsic = BundleAdjustmentOps.convert(example.scene.cameras.get(center.<ins style="font-weight: bold; text-decoration: none;">cameraIdx</ins>).model,</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> colorImage.width, colorImage.height, null);</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> colorImage.width, colorImage.height, null);</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> Point2Transform2_F64 pixel_to_norm = new LensDistortionBrown(intrinsic).distort_F64(true, false);</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> Point2Transform2_F64 pixel_to_norm = new LensDistortionBrown(intrinsic).distort_F64(true, false);</div></td></tr>
</table>
Peter
https://boofcv.org/index.php?title=Example_Multi_Baseline_Stereo&diff=2946&oldid=prev
Peter at 19:42, 12 July 2021
2021-07-12T19:42:29Z
<p></p>
<table style="background-color: #fff; color: #202122;" data-mw="interface">
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<col class="diff-marker" />
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<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 19:42, 12 July 2021</td>
</tr><tr><td colspan="2" class="diff-lineno" id="mw-diff-left-l12">Line 12:</td>
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<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>
<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>* [https://github.com/lessthanoptimal/BoofCV/blob/v0.38/examples/src/main/java/boofcv/examples/<del style="font-weight: bold; text-decoration: none;">sfm</del>/<del style="font-weight: bold; text-decoration: none;">ExampleMultiviewSceneReconstruction</del>.java <del style="font-weight: bold; text-decoration: none;">ExampleMultiviewSceneReconstruction</del>.java]</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>* [https://github.com/lessthanoptimal/BoofCV/blob/v0.38/examples/src/main/java/boofcv/examples/<ins style="font-weight: bold; text-decoration: none;">reconstruction</ins>/<ins style="font-weight: bold; text-decoration: none;">ExampleMultiBaselineStereo</ins>.java <ins style="font-weight: bold; text-decoration: none;">ExampleMultiBaselineStereo</ins>.java]</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>Concepts:</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>Concepts:</div></td></tr>
</table>
Peter
https://boofcv.org/index.php?title=Example_Multi_Baseline_Stereo&diff=2939&oldid=prev
Peter at 19:34, 12 July 2021
2021-07-12T19:34:08Z
<p></p>
<table style="background-color: #fff; color: #202122;" data-mw="interface">
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<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 19:34, 12 July 2021</td>
</tr><tr><td colspan="2" class="diff-lineno" id="mw-diff-left-l12">Line 12:</td>
<td colspan="2" class="diff-lineno">Line 12:</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>
<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>* [https://github.com/lessthanoptimal/BoofCV/blob/v0.<del style="font-weight: bold; text-decoration: none;">37</del>/examples/src/main/java/boofcv/examples/sfm/ExampleMultiviewSceneReconstruction.java ExampleMultiviewSceneReconstruction.java]</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>* [https://github.com/lessthanoptimal/BoofCV/blob/v0.<ins style="font-weight: bold; text-decoration: none;">38</ins>/examples/src/main/java/boofcv/examples/sfm/ExampleMultiviewSceneReconstruction.java ExampleMultiviewSceneReconstruction.java]</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>Concepts:</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>Concepts:</div></td></tr>
<tr><td colspan="2" class="diff-lineno" id="mw-diff-left-l38">Line 38:</td>
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<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> // Specifies the "center" frame to use</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> // Specifies the "center" frame to use</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> int centerViewIdx = 15;</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> int centerViewIdx = 15;</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> example.compute("tree_snow_01.mp4");</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> example.compute("tree_snow_01.mp4"<ins style="font-weight: bold; text-decoration: none;">, true</ins>);</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>// example.compute("ditch_02.mp4");</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>// example.compute("ditch_02.mp4"<ins style="font-weight: bold; text-decoration: none;">, true</ins>);</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>// example.compute("holiday_display_01.mp4");</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>// example.compute("holiday_display_01.mp4"<ins style="font-weight: bold; text-decoration: none;">", true</ins>);</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>// example.compute("log_building_02.mp4");</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>// example.compute("log_building_02.mp4"<ins style="font-weight: bold; text-decoration: none;">", true);</ins></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.compute("drone_park_01.mp4", false);</ins></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.compute("stone_sign.mp4", true</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> // We need a way to load images based on their ID. In this particular case the ID encodes the array index.</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> // We need a way to load images based on their ID. In this particular case the ID encodes the array index.</div></td></tr>
</table>
Peter
https://boofcv.org/index.php?title=Example_Multi_Baseline_Stereo&diff=2855&oldid=prev
Peter at 20:51, 22 December 2020
2020-12-22T20:51:22Z
<p></p>
<table style="background-color: #fff; color: #202122;" data-mw="interface">
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<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 20:51, 22 December 2020</td>
</tr><tr><td colspan="2" class="diff-lineno" id="mw-diff-left-l16">Line 16:</td>
<td colspan="2" class="diff-lineno">Line 16:</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>Concepts:</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>Concepts:</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>* Structure from Motion</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>* Structure from Motion</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><del style="font-weight: bold; text-decoration: none;">* Multiple View Stereo</del></div></td><td colspan="2"></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><del style="font-weight: bold; text-decoration: none;">* Multi Baseline Stereo</del></div></td><td colspan="2"></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_Sparse_Bundle_Adjustment|Sparse Bundle Adjustment]]</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_Sparse_Bundle_Adjustment|Sparse Bundle Adjustment]]</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_Multiview_Uncalibrated_Reconstruction_Sparse|Uncalibrated Sparse Reconstruction]]</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_Multiview_Uncalibrated_Reconstruction_Sparse|Uncalibrated Sparse Reconstruction]]</div></td></tr>
</table>
Peter
https://boofcv.org/index.php?title=Example_Multi_Baseline_Stereo&diff=2851&oldid=prev
Peter at 20:40, 22 December 2020
2020-12-22T20:40:17Z
<p></p>
<table style="background-color: #fff; color: #202122;" data-mw="interface">
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<col class="diff-content" />
<col class="diff-marker" />
<col class="diff-content" />
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<td colspan="2" style="background-color: #fff; color: #202122; text-align: center;">Revision as of 20:40, 22 December 2020</td>
</tr><tr><td colspan="2" class="diff-lineno" id="mw-diff-left-l19">Line 19:</td>
<td colspan="2" class="diff-lineno">Line 19:</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>* Multi Baseline Stereo</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>* Multi Baseline Stereo</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_Sparse_Bundle_Adjustment|Sparse Bundle Adjustment]]</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_Sparse_Bundle_Adjustment|Sparse Bundle Adjustment]]</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_Multiview_Uncalibrated_Reconstruction_Sparse|Uncalibrated Sparse Reconstruction]]</ins></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_Multiview_Reconstruction_Dense|Dense Multiview Reconstruction]]</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_Multi_Baseline_Stereo&diff=2842&oldid=prev
Peter at 20:09, 22 December 2020
2020-12-22T20:09:17Z
<p></p>
<table style="background-color: #fff; color: #202122;" data-mw="interface">
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<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 20:09, 22 December 2020</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>
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<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><del style="font-weight: bold; text-decoration: none;"><gallery widths=500px heights=300px></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><ins style="font-weight: bold; text-decoration: none;">{|</ins></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:Multi_baseline_disparity.jpg | Multiple disparity images are computed from a common view and combined into a single disparity image.</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><ins style="font-weight: bold; text-decoration: none;">| [[</ins>file:Multi_baseline_disparity.jpg <ins style="font-weight: bold; text-decoration: none;">|border|x300px]]</ins></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><del style="font-weight: bold; text-decoration: none;"></gallery></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><ins style="font-weight: bold; text-decoration: none;">| [[File:Multi_baseline_stereo_snowtree.mp4|border|thumb|220px|start=0]]</ins></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;">|-</ins></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>| Multiple disparity images are computed from a common view and combined into a single disparity image.</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;">| Video showing resulting point cloud</ins></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;">|} </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></center></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></center></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>
</table>
Peter
https://boofcv.org/index.php?title=Example_Multi_Baseline_Stereo&diff=2839&oldid=prev
Peter: Created page with "<center> <gallery widths=500px heights=300px> file:Multi_baseline_disparity.jpg | Multiple disparity images are computed from a common view and combined into a single disparit..."
2020-12-22T19:05:23Z
<p>Created page with "<center> <gallery widths=500px heights=300px> file:Multi_baseline_disparity.jpg | Multiple disparity images are computed from a common view and combined into a single disparit..."</p>
<p><b>New page</b></p><div><center><br />
<gallery widths=500px heights=300px><br />
file:Multi_baseline_disparity.jpg | Multiple disparity images are computed from a common view and combined into a single disparity image.<br />
</gallery><br />
</center><br />
<br />
The idea behind Multi Baseline Stereo is combine multiple stereo pairs that all share a common view into a single disparity image that is in theory more complete and less noisy. An example of how to do using an already provided algorithm is shown below. This is basically a first pass and doesn't yet have all the more advanced features included. As a warning, this is built on top of the scene reconstruction demo and the first time you run it it might take a couple of minutes as it solves a lot of other problems first.<br />
<br />
Example Code:<br />
* [https://github.com/lessthanoptimal/BoofCV/blob/v0.37/examples/src/main/java/boofcv/examples/sfm/ExampleMultiviewSceneReconstruction.java ExampleMultiviewSceneReconstruction.java]<br />
<br />
Concepts:<br />
* Structure from Motion<br />
* Multiple View Stereo<br />
* Multi Baseline Stereo<br />
* [[Example_Sparse_Bundle_Adjustment|Sparse Bundle Adjustment]]<br />
<br />
= Example Code =<br />
<br />
<syntaxhighlight lang="java"><br />
/**<br />
* Multi Baseline Stereo (MBS) is a problem where you have one common/center image with multiple paired images that have<br />
* different baselines from each other and the goal is to output a single combined stereo image. In BoofCV, this<br />
* combined stereo image will be the original image's pixel as compared to the more standard rectified image. At<br />
* the time of this writing, BoofCV only contains one MBS algorithm, which is just about the simplest one possible<br />
* and works by combining independently computed disparity images together using a median filter to select the output.<br />
*<br />
* @author Peter Abeles<br />
*/<br />
public class ExampleMultiBaselineStereo {<br />
public static void main( String[] args ) {<br />
// Compute a sparse reconstruction. This will give us intrinsic and extrinsic for all views<br />
var example = new ExampleMultiViewSparseReconstruction();<br />
// Specifies the "center" frame to use<br />
int centerViewIdx = 15;<br />
example.compute("tree_snow_01.mp4");<br />
// example.compute("ditch_02.mp4");<br />
// example.compute("holiday_display_01.mp4");<br />
// example.compute("log_building_02.mp4");<br />
<br />
// We need a way to load images based on their ID. In this particular case the ID encodes the array index.<br />
var imageLookup = new LookUpImageFilesByIndex(example.imageFiles);<br />
<br />
// Next we tell it which view to use as the "center", which acts as the common view for all disparity images.<br />
// The process of selecting the best views to use as centers is a problem all it's own. To keep things<br />
// we just pick a frame.<br />
SceneWorkingGraph.View center = example.working.getAllViews().get(centerViewIdx);<br />
<br />
// The final scene refined by bundle adjustment is created by the Working graph. However the 3D relationship<br />
// between views is contained in the pairwise graph. A View in the working graph has a reference to the view<br />
// in the pairwise graph. Using that we will find all connected views that have a 3D relationship<br />
DogArray_I32 pairedViewIdxs = new DogArray_I32();<br />
TIntObjectMap<String> sbaIndexToImageID = new TIntObjectHashMap<>();<br />
<br />
// This relationship between pairwise and working graphs might seem (and is) a bit convoluted. The Pairwise<br />
// graph is the initial crude sketch of what might be connected. The working graph is an intermediate<br />
// data structure for computing the metric scene. SBA is a refinement of the working graph.<br />
<br />
// Iterate through all connected views in the pairwise graph and mark their indexes in the working graph<br />
center.pview.connections.forEach(( m ) -> {<br />
// if there isn't a 3D relationship just skip it<br />
if (!m.is3D)<br />
return;<br />
<br />
String connectedID = m.other(center.pview).id;<br />
SceneWorkingGraph.View connected = example.working.views.get(connectedID);<br />
<br />
// Make sure the pairwise view exists in the working graph too<br />
if (connected == null)<br />
return;<br />
<br />
// Add this view to the index to name/ID lookup table<br />
sbaIndexToImageID.put(connected.index, connectedID);<br />
<br />
// Note that this view is one which acts as the second image in the stereo pair<br />
pairedViewIdxs.add(connected.index);<br />
});<br />
<br />
// Add the center camera image to the ID look up table<br />
sbaIndexToImageID.put(centerViewIdx, center.pview.id);<br />
<br />
// Configure there stereo disparity algorithm which is used<br />
var configDisparity = new ConfigDisparityBMBest5();<br />
configDisparity.validateRtoL = 1;<br />
configDisparity.texture = 0.5;<br />
configDisparity.regionRadiusX = configDisparity.regionRadiusY = 4;<br />
configDisparity.disparityRange = 120;<br />
<br />
// This is the actual MBS algorithm mentioned previously. It selects the best disparity for each pixel<br />
// in the original image using a median filter.<br />
var multiBaseline = new MultiBaselineStereoIndependent<>(imageLookup, ImageType.SB_U8);<br />
multiBaseline.setStereoDisparity(<br />
FactoryStereoDisparity.blockMatchBest5(configDisparity, GrayU8.class, GrayF32.class));<br />
<br />
// Print out verbose debugging and profile information<br />
multiBaseline.setVerbose(System.out, null);<br />
multiBaseline.setVerboseProfiling(System.out);<br />
<br />
// Improve stereo by removing small regions, which tends to be noise. Consider adjusting the region size.<br />
multiBaseline.setDisparitySmoother(FactoryStereoDisparity.removeSpeckle(null, GrayF32.class));<br />
// Print out debugging information from the smoother<br />
//Objects.requireNonNull(multiBaseline.getDisparitySmoother()).setVerbose(System.out,null);<br />
<br />
// Creates a list where you can switch between different images/visualizations<br />
var listDisplay = new ListDisplayPanel();<br />
listDisplay.setPreferredSize(new Dimension(1000, 300));<br />
ShowImages.showWindow(listDisplay, "Intermediate Results", true);<br />
<br />
// We will display intermediate results as they come in<br />
multiBaseline.setListener(( leftView, rightView, rectLeft, rectRight,<br />
disparity, mask, parameters, rect ) -> {<br />
// Visualize the rectified stereo pair. You can interact with this window and verify<br />
// that the y-axis is aligned<br />
var rectified = new RectifiedPairPanel(true);<br />
rectified.setImages(ConvertBufferedImage.convertTo(rectLeft, null),<br />
ConvertBufferedImage.convertTo(rectRight, null));<br />
<br />
// Cleans up the disparity image by zeroing out pixels that are outside the original image bounds<br />
RectifyImageOps.applyMask(disparity, mask, 0);<br />
// Display the colorized disparity<br />
BufferedImage colorized = VisualizeImageData.disparity(disparity, null, parameters.disparityRange, 0);<br />
<br />
SwingUtilities.invokeLater(() -> {<br />
listDisplay.addItem(rectified, "Rectified " + leftView + " " + rightView);<br />
listDisplay.addImage(colorized, leftView + " " + rightView);<br />
});<br />
});<br />
<br />
// Process the images and compute a single combined disparity image<br />
if (!multiBaseline.process(example.scene, center.index, pairedViewIdxs, sbaIndexToImageID::get)) {<br />
throw new RuntimeException("Failed to fuse stereo views");<br />
}<br />
<br />
// Extract the point cloud from the fused disparity image<br />
GrayF32 fusedDisparity = multiBaseline.getFusedDisparity();<br />
DisparityParameters fusedParam = multiBaseline.getFusedParam();<br />
BufferedImage colorizedDisp = VisualizeImageData.disparity(fusedDisparity, null, fusedParam.disparityRange, 0);<br />
ShowImages.showWindow(colorizedDisp, "Fused Disparity");<br />
<br />
// Now compute the point cloud it represents and the color of each pixel.<br />
// For the fused image, instead of being in rectified image coordinates it's in the original image coordinates<br />
// this makes extracting color much easier.<br />
var cloud = new DogArray<>(Point3D_F64::new);<br />
var cloudRgb = new DogArray_I32(cloud.size);<br />
// Load the center image in color<br />
var colorImage = new InterleavedU8(1, 1, 3);<br />
imageLookup.loadImage(center.pview.id, colorImage);<br />
// Since the fused image is in the original (i.e. distorted) pixel coordinates and is not rectified,<br />
// that needs to be taken in account by undistoring the image to create the point cloud.<br />
CameraPinholeBrown intrinsic = BundleAdjustmentOps.convert(example.scene.cameras.get(center.index).model,<br />
colorImage.width, colorImage.height, null);<br />
Point2Transform2_F64 pixel_to_norm = new LensDistortionBrown(intrinsic).distort_F64(true, false);<br />
MultiViewStereoOps.disparityToCloud(fusedDisparity, fusedParam, new PointToPixelTransform_F64(pixel_to_norm),<br />
( pixX, pixY, x, y, z ) -> {<br />
cloud.grow().setTo(x, y, z);<br />
cloudRgb.add(colorImage.get24(pixX, pixY));<br />
});<br />
<br />
// Configure the point cloud viewer<br />
PointCloudViewer pcv = VisualizeData.createPointCloudViewer();<br />
pcv.setCameraHFov(UtilAngle.radian(70));<br />
pcv.setTranslationStep(0.15);<br />
pcv.addCloud(cloud.toList(), cloudRgb.data);<br />
// pcv.setColorizer(new SingleAxisRgb.Z().fperiod(30.0));<br />
JComponent viewer = pcv.getComponent();<br />
viewer.setPreferredSize(new Dimension(600, 600));<br />
ShowImages.showWindow(viewer, "Point Cloud", true);<br />
<br />
System.out.println("Done");<br />
}<br />
}<br />
</syntaxhighlight></div>
Peter