boofcv.examples.stereo

Class ExampleStereoDisparity

java.lang.Object

boofcv.examples.stereo.ExampleStereoDisparity

public class ExampleStereoDisparity
extends java.lang.Object

The disparity between two stereo images is used to estimate the range of objects inside the camera's view. Disparity is the difference in position between the viewed location of a point in the left and right stereo images. Because input images are rectified, corresponding points can be found by only searching along image rows. Values in the disparity image specify how different the two images are. A value of X indicates that the corresponding point in the right image from the left is at "x' = x - X - minDisparity", where x' and x are the locations in the right and left images respectively. An invalid value with no correspondence is set to a value more than (max - min) disparity.

Constructor Summary

Constructors

Constructor and Description
ExampleStereoDisparity()

Method Summary

Modifier and Type	Method and Description
static GrayU8	denseDisparity(GrayU8 rectLeft, GrayU8 rectRight, int regionSize, int minDisparity, int maxDisparity) Computes the dense disparity between between two stereo images.
static GrayF32	denseDisparitySubpixel(GrayU8 rectLeft, GrayU8 rectRight, int regionSize, int minDisparity, int maxDisparity) Same as above, but compute disparity to within sub-pixel accuracy.
static void	main(java.lang.String[] args)
static RectifyCalibrated	rectify(GrayU8 origLeft, GrayU8 origRight, StereoParameters param, GrayU8 rectLeft, GrayU8 rectRight) Rectified the input images using known calibration.

Methods inherited from class java.lang.Object

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

Constructor Detail

ExampleStereoDisparity

public ExampleStereoDisparity()

Method Detail

denseDisparity

public static GrayU8 denseDisparity(GrayU8 rectLeft,
                                    GrayU8 rectRight,
                                    int regionSize,
                                    int minDisparity,
                                    int maxDisparity)

Computes the dense disparity between between two stereo images. The input images must be rectified with lens distortion removed to work! Floating point images are also supported.

Parameters:

rectLeft - Rectified left camera image

rectRight - Rectified right camera image

regionSize - Radius of region being matched

minDisparity - Minimum disparity that is considered

maxDisparity - Maximum disparity that is considered

Returns:

Disparity image

denseDisparitySubpixel

public static GrayF32 denseDisparitySubpixel(GrayU8 rectLeft,
                                             GrayU8 rectRight,
                                             int regionSize,
                                             int minDisparity,
                                             int maxDisparity)

Same as above, but compute disparity to within sub-pixel accuracy. The difference between the two is more apparent when a 3D point cloud is computed.

rectify

public static RectifyCalibrated rectify(GrayU8 origLeft,
                                        GrayU8 origRight,
                                        StereoParameters param,
                                        GrayU8 rectLeft,
                                        GrayU8 rectRight)

Rectified the input images using known calibration.

main

public static void main(java.lang.String[] args)