public class StereoProcessingBase<T extends boofcv.struct.image.ImageSingleBand>
extends java.lang.Object
| Modifier and Type | Field and Description |
|---|---|
protected double |
baseline |
protected double |
cx |
protected double |
cy |
protected double |
fx |
protected double |
fy |
protected T |
imageLeftRect |
protected T |
imageRightRect |
protected georegression.struct.point.Point3D_F64 |
pointRect |
protected org.ejml.data.DenseMatrix64F |
rect1 |
protected org.ejml.data.DenseMatrix64F |
rect2 |
protected org.ejml.data.DenseMatrix64F |
rectK |
protected org.ejml.data.DenseMatrix64F |
rectR |
| Constructor and Description |
|---|
StereoProcessingBase(java.lang.Class<T> imageType)
Declares internal data structures
|
| Modifier and Type | Method and Description |
|---|---|
void |
computeHomo3D(double x,
double y,
georegression.struct.point.Point3D_F64 pointLeft)
Given a coordinate of a point in the left rectified frame, compute the point's 3D
coordinate in the camera's reference frame in homogeneous coordinates.
|
T |
getImageLeftRect()
Rectified left image
|
T |
getImageRightRect()
Rectified right image
|
org.ejml.data.DenseMatrix64F |
getRect1() |
org.ejml.data.DenseMatrix64F |
getRect2() |
org.ejml.data.DenseMatrix64F |
getRectK()
Intrinsic camera calibration matrix for both cameras after rectification
|
void |
initialize()
Initializes stereo processing.
|
void |
setCalibration(boofcv.struct.calib.StereoParameters stereoParam)
Specifies stereo parameters
|
void |
setImages(T leftImage,
T rightImage)
Sets the input images.
|
protected T extends boofcv.struct.image.ImageSingleBand imageLeftRect
protected T extends boofcv.struct.image.ImageSingleBand imageRightRect
protected org.ejml.data.DenseMatrix64F rect1
protected org.ejml.data.DenseMatrix64F rect2
protected org.ejml.data.DenseMatrix64F rectK
protected org.ejml.data.DenseMatrix64F rectR
protected georegression.struct.point.Point3D_F64 pointRect
protected double baseline
protected double cx
protected double cy
protected double fx
protected double fy
public StereoProcessingBase(java.lang.Class<T> imageType)
imageType - Input image typepublic void setCalibration(boofcv.struct.calib.StereoParameters stereoParam)
stereoParam - stereo parameterspublic void computeHomo3D(double x,
double y,
georegression.struct.point.Point3D_F64 pointLeft)
x - x-coordinate of pixel in rectified left imagey - y-coordinate of pixel in rectified left imagepointLeft - Storage for 3D coordinate of point in homogeneous coordinates. w = disparitypublic void setImages(T leftImage, T rightImage)
initialize() has been called.leftImage - Left imagerightImage - Right imagepublic void initialize()
public T getImageLeftRect()
public T getImageRightRect()
public org.ejml.data.DenseMatrix64F getRectK()
public org.ejml.data.DenseMatrix64F getRect1()
public org.ejml.data.DenseMatrix64F getRect2()