boofcv.alg.sfm

Class DepthSparse3D<T extends ImageGray>

java.lang.Object

boofcv.alg.sfm.DepthSparse3D<T>

Direct Known Subclasses:

DepthSparse3D.F32, DepthSparse3D.I

public abstract class DepthSparse3D<T extends ImageGray>
extends java.lang.Object

Computes the 3D coordinate a point in a visual camera given a depth image. The visual camera is a standard camera while the depth camera contains the depth (value along z-axis) of objects inside its field of view. The Kinect (structured light) and flash ladar (time of flight) are examples of sensors which could use this class. The z-axis is defined to be pointing straight out of the visual camera and both depth and visual cameras are assumed to be parallel with identical pointing vectors for the z-axis. A mapping is provided for converting between pixels in the visual camera and the depth camera. This mapping is assumed to be fixed with time.

Nested Class Summary

Nested Classes

Modifier and Type	Class and Description
static class	DepthSparse3D.F32 Implementation for GrayF32.
static class	DepthSparse3D.I<T extends GrayI> Implementation for GrayI.

Constructor Summary

Constructors

Constructor and Description
DepthSparse3D(double depthScale) Configures parameters

Method Summary

Modifier and Type	Method and Description
void	configure(IntrinsicParameters paramVisual, PixelTransform_F32 visualToDepth) Configures intrinsic camera parameters
Point3D_F64	getWorldPt() The found 3D coordinate of the point in the visual camera coordinate system.
boolean	process(int x, int y) Given a pixel coordinate in the visual camera, compute the 3D coordinate of that point.
void	setDepthImage(T depthImage) Sets the depth image.

Methods inherited from class java.lang.Object

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

Constructor Detail

DepthSparse3D

public DepthSparse3D(double depthScale)

Configures parameters

Parameters:

depthScale - Used to change units found in the depth image.

Method Detail

configure

public void configure(IntrinsicParameters paramVisual,
                      PixelTransform_F32 visualToDepth)

Configures intrinsic camera parameters

Parameters:

paramVisual - Intrinsic parameters of visual camera.

visualToDepth - Transform from visual to depth camera pixel coordinate systems.

setDepthImage

public void setDepthImage(T depthImage)

Sets the depth image. A reference is saved internally.

Parameters:

depthImage - Image containing depth information.

process

public boolean process(int x,
                       int y)

Given a pixel coordinate in the visual camera, compute the 3D coordinate of that point.

Parameters:

x - x-coordinate of point in visual camera

y - y-coordinate of point in visual camera

Returns:

true if a 3D point could be computed and false if not

getWorldPt

public Point3D_F64 getWorldPt()

The found 3D coordinate of the point in the visual camera coordinate system. Is only valid when process(int, int) returns true.

Returns:

3D coordinate of point in visual camera coordinate system