boofcv.examples.stereo

Class ExampleStereoTwoViewsOneCamera

java.lang.Object

boofcv.examples.stereo.ExampleStereoTwoViewsOneCamera

public class ExampleStereoTwoViewsOneCamera
extends java.lang.Object

Example demonstrating how to use to images taken from a single calibrated camera to create a stereo disparity image, from which a dense 3D point cloud of the scene can be computed. For this technique to work the camera's motion needs to be approximately tangential to the direction the camera is pointing. The code below assumes that the first image is to the left of the second image.

Constructor Summary

Constructors

Constructor and Description
ExampleStereoTwoViewsOneCamera()

Method Summary

Modifier and Type	Method and Description
static java.util.List<AssociatedPair>	convertToNormalizedCoordinates(java.util.List<AssociatedPair> matchedFeatures, IntrinsicParameters intrinsic) Convert a set of associated point features from pixel coordinates into normalized image coordinates.
static void	drawInliers(java.awt.image.BufferedImage left, java.awt.image.BufferedImage right, IntrinsicParameters intrinsic, java.util.List<AssociatedPair> normalized) Draw inliers for debugging purposes.
static Se3_F64	estimateCameraMotion(IntrinsicParameters intrinsic, java.util.List<AssociatedPair> matchedNorm, java.util.List<AssociatedPair> inliers) Estimates the camera motion robustly using RANSAC and a set of associated points.
static void	main(java.lang.String[] args)
static void	rectifyImages(GrayU8 distortedLeft, GrayU8 distortedRight, Se3_F64 leftToRight, IntrinsicParameters intrinsic, GrayU8 rectifiedLeft, GrayU8 rectifiedRight, org.ejml.data.DenseMatrix64F rectifiedK) Remove lens distortion and rectify stereo images
static void	showPointCloud(ImageGray disparity, java.awt.image.BufferedImage left, Se3_F64 motion, org.ejml.data.DenseMatrix64F rectifiedK, int minDisparity, int maxDisparity) Show results as a point cloud

Methods inherited from class java.lang.Object

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

Constructor Detail

ExampleStereoTwoViewsOneCamera

public ExampleStereoTwoViewsOneCamera()

Method Detail

main

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

estimateCameraMotion

public static Se3_F64 estimateCameraMotion(IntrinsicParameters intrinsic,
                                           java.util.List<AssociatedPair> matchedNorm,
                                           java.util.List<AssociatedPair> inliers)

Estimates the camera motion robustly using RANSAC and a set of associated points.

Parameters:

intrinsic - Intrinsic camera parameters

matchedNorm - set of matched point features in normalized image coordinates

inliers - OUTPUT: Set of inlier features from RANSAC

Returns:

Found camera motion. Note translation has an arbitrary scale

convertToNormalizedCoordinates

public static java.util.List<AssociatedPair> convertToNormalizedCoordinates(java.util.List<AssociatedPair> matchedFeatures,
                                                                            IntrinsicParameters intrinsic)

Convert a set of associated point features from pixel coordinates into normalized image coordinates.

rectifyImages

public static void rectifyImages(GrayU8 distortedLeft,
                                 GrayU8 distortedRight,
                                 Se3_F64 leftToRight,
                                 IntrinsicParameters intrinsic,
                                 GrayU8 rectifiedLeft,
                                 GrayU8 rectifiedRight,
                                 org.ejml.data.DenseMatrix64F rectifiedK)

Remove lens distortion and rectify stereo images

Parameters:

distortedLeft - Input distorted image from left camera.

distortedRight - Input distorted image from right camera.

leftToRight - Camera motion from left to right

intrinsic - Intrinsic camera parameters

rectifiedLeft - Output rectified image for left camera.

rectifiedRight - Output rectified image for right camera.

rectifiedK - Output camera calibration matrix for rectified camera

drawInliers

public static void drawInliers(java.awt.image.BufferedImage left,
                               java.awt.image.BufferedImage right,
                               IntrinsicParameters intrinsic,
                               java.util.List<AssociatedPair> normalized)

Draw inliers for debugging purposes. Need to convert from normalized to pixel coordinates.

showPointCloud

public static void showPointCloud(ImageGray disparity,
                                  java.awt.image.BufferedImage left,
                                  Se3_F64 motion,
                                  org.ejml.data.DenseMatrix64F rectifiedK,
                                  int minDisparity,
                                  int maxDisparity)

Show results as a point cloud