Static helper functions for stereo related computations. More...

#include <ImageUtilityStereo.h>

Static Public Member Functions
static bool	IsStereoCamera (CameraPtr pCamera)
	Returns true if the camera is a stereo camera or false otherwise.

static ImagePtr	FilterSpeckles (const ImagePtr &disparityImage, const int maxSpeckleSize, const int speckleThreshold, const float disparityScaleFactor, const float invalidDataValue)
	Filters speckles from a copy of the input mono disparity image.

static void	FilterSpecklesFromImage (ImagePtr &disparityImage, const int maxSpeckleSize, const int speckleThreshold, const float disparityScaleFactor, const float invalidDataValue)
	Filters speckles in-place on the input mono disparity image.

static bool	Compute3DPointFromPixel (const uint16_t disparity, const StereoCameraParameters &stereoCameraParameters, Stereo3DPoint &stereo3DPoint)
	Computes 3D point from disparity value.

static PointCloud	ComputePointCloud (const ImagePtr &disparityImage, const ImagePtr &referenceImage, const PointCloudParameters &pointCloudParameters, const StereoCameraParameters &stereoCameraParameters)
	Computes 3D point cloud from disparity and reference images using a stereo matching algorithm.

static void	ComputePointCloud (const ImagePtr &disparityImage, const ImagePtr &referenceImage, const PointCloudParameters &pointCloudParameters, const StereoCameraParameters &stereoCameraParameters, PointCloud &pointCloud)
	Computes 3D point cloud from disparity and reference images using a stereo matching algorithm.

static bool	ComputeDistanceToPoint (const ImagePtr &disparityImage, const StereoCameraParameters &stereoParam, const ImagePixel &imagePixel, float &distance)
	Computes the distance of a point to the camera world coordinates origin, from the disparity image.

static bool	ComputeDistanceBetweenPoints (const ImagePtr &disparityImage, const StereoCameraParameters &stereoParam, const ImagePixel &imagePixel1, const ImagePixel &ImagePixel2, float &distance)
	Computes the distance between two points in the disparity image.

static ImagePtr	CreateDepthImage (const ImagePtr &disparityImage, const StereoCameraParameters &stereoCameraParameters, const uint16_t invalidDepthVal, float &minDepthVal, float &maxDepthVal)
	Computes a depth image.

static void	CreateDepthImage (const ImagePtr &disparityImage, const StereoCameraParameters &stereoCameraParameters, const uint16_t invalidDepthVal, ImagePtr &depthImage, float &minDepthVal, float &maxDepthVal)
	Computes a depth image.

Static Public Attributes
static uint16_t	maxDepthThresholdInMm

static uint16_t	maxDepthThresholdInMeter

Detailed Description

Static helper functions for stereo related computations.

Member Function Documentation

◆ Compute3DPointFromPixel()

static bool Compute3DPointFromPixel	(	const uint16_t	disparity,
		const StereoCameraParameters &	stereoCameraParameters,
		Stereo3DPoint &	stereo3DPoint
	)

static

Computes 3D point from disparity value.

Parameters

disparity	The disparity value
stereoCameraParameters	The parameters for the stereo camera
stereo3DPoint	The computed 3D point

See also: StereoCameraParameters

Returns: True if the function finished successfully, or false otherwise

◆ ComputeDistanceBetweenPoints()

static bool ComputeDistanceBetweenPoints	(	const ImagePtr &	disparityImage,
		const StereoCameraParameters &	stereoParam,
		const ImagePixel &	imagePixel1,
		const ImagePixel &	ImagePixel2,
		float &	distance
	)

static

Computes the distance between two points in the disparity image.

Parameters

disparityImage	The disparity image
stereoParam	The stereo camera parameters
imagePixel1	The first pixel in the image
imagePixel2	The second pixel in the image
distance	The distance between the two points

Returns: True if the function finished successfully, or false otherwise

◆ ComputeDistanceToPoint()

static bool ComputeDistanceToPoint	(	const ImagePtr &	disparityImage,
		const StereoCameraParameters &	stereoParam,
		const ImagePixel &	imagePixel,
		float &	distance
	)

static

Computes the distance of a point to the camera world coordinates origin, from the disparity image.

Parameters

disparityImage	The disparity image
stereoParam	The stereo camera parameters
imagePixel	The pixel in the image
distance	The distance of the point to the camera world coordinates origin

Returns: True if the function finished successfully, or false otherwise.

◆ ComputePointCloud() [1/2]

static PointCloud ComputePointCloud	(	const ImagePtr &	disparityImage,
		const ImagePtr &	referenceImage,
		const PointCloudParameters &	pointCloudParameters,
		const StereoCameraParameters &	stereoCameraParameters
	)

static

Computes 3D point cloud from disparity and reference images using a stereo matching algorithm.

Parameters

disparityImage	The disparity image from a stereo pair
referenceImage	The reference image from a stereo pair. This is the image that is used as a reference for the disparity image.
pointCloudParameters	The parameters for computing the point cloud
stereoCameraParameters	The parameters for the stereo camera

See also: StereoCameraParameters; PointCloudParameters

Returns: A PointCloud object containing the computed point cloud

Examples: StereoAcquisition.cpp, and StereoAcquisition_QuickSpin.cpp.

◆ ComputePointCloud() [2/2]

static void ComputePointCloud	(	const ImagePtr &	disparityImage,
		const ImagePtr &	referenceImage,
		const PointCloudParameters &	pointCloudParameters,
		const StereoCameraParameters &	stereoCameraParameters,
		PointCloud &	pointCloud
	)

static

Computes 3D point cloud from disparity and reference images using a stereo matching algorithm.

Parameters

disparityImage	The disparity image from a stereo pair
referenceImage	The reference image from a stereo pair. This is the image that is used as a reference for the disparity image.
pointCloudParameters	The parameters for computing the point cloud
stereoCameraParameters	The parameters for the stereo camera
pointCloud	The computed point cloud will be stored in this object

See also: StereoCameraParameters; PointCloudParameters

◆ CreateDepthImage() [1/2]

static ImagePtr CreateDepthImage	(	const ImagePtr &	disparityImage,
		const StereoCameraParameters &	stereoCameraParameters,
		const uint16_t	invalidDepthVal,
		float &	minDepthVal,
		float &	maxDepthVal
	)

static

Computes a depth image.

A depth image reinterprets disparity data by mapping the disparity for each pixel to a depth (z) value based on the image focal length and baseline. The source image is required to carry disparity information.

Parameters

disparityImage	The source image from which to create the depth values
invalidDepthVal	value to mark invalid pixels, where the depth should not be computed for
minDepthVal	The actual minimum depth in the image
maxDepthVal	The actual maximum depth in the image

Returns: The depth image

◆ CreateDepthImage() [2/2]

static void CreateDepthImage	(	const ImagePtr &	disparityImage,
		const StereoCameraParameters &	stereoCameraParameters,
		const uint16_t	invalidDepthVal,
		ImagePtr &	depthImage,
		float &	minDepthVal,
		float &	maxDepthVal
	)

static

Computes a depth image.

A depth image reinterprets disparity data by mapping the disparity for each pixel to a depth (z) value based on the image focal length and baseline. The source image is required to carry disparity information. The destination is required to be initialized with Mono16 pixel format, and have the same width, height, x offset, and y offset as the source image.

Parameters

disparityImage	The source image from which to create the depth values
stereoCameraParameters	The stereo camera parameters
invalidDepthVal	value to mark invalid pixels, where the depth should not be computed for
depthImage	The destination image in which to store the created depth values
minDepthVal	The actual minimum depth in the image
maxDepthVal	The actual maximum depth in the image

◆ FilterSpeckles()

static ImagePtr FilterSpeckles	(	const ImagePtr &	disparityImage,
		const int	maxSpeckleSize,
		const int	speckleThreshold,
		const float	disparityScaleFactor,
		const float	invalidDataValue
	)

static

Filters speckles from a copy of the input mono disparity image.

Note that only Mono16 pixel format image is supported.

Parameters

disparityImage	The disparity image
maxSpeckleSize	The maximum allowed speckle size
speckleThreshold	The speckle size threshold
disparityScaleFactor	The coordinate scale factor
invalidDataValue	The value assigned to invalid data

Returns: Speckle filtered image

◆ FilterSpecklesFromImage()

static void FilterSpecklesFromImage	(	ImagePtr &	disparityImage,
		const int	maxSpeckleSize,
		const int	speckleThreshold,
		const float	disparityScaleFactor,
		const float	invalidDataValue
	)

static

Filters speckles in-place on the input mono disparity image.

Note that only Mono16 pixel format image is supported.

Parameters

disparityImage	The disparity image
maxSpeckleSize	The maximum allowed speckle size
speckleThreshold	The speckle size threshold
disparityScaleFactor	The coordinate scale factor
invalidDataValue	The value assigned to invalid data

◆ IsStereoCamera()

static bool IsStereoCamera ( CameraPtr pCamera )

static

Returns true if the camera is a stereo camera or false otherwise.

Parameters

pCamera The camera

Returns: True if the camera is stereo camera, or false otherwise

Member Data Documentation

◆ maxDepthThresholdInMeter

uint16_t maxDepthThresholdInMeter

static

◆ maxDepthThresholdInMm

uint16_t maxDepthThresholdInMm

static

The documentation for this class was generated from the following file:

include/ImageUtilityStereo.h

Static Public Member Functions

Static Public Attributes

Detailed Description

Member Function Documentation

◆ Compute3DPointFromPixel()

◆ ComputeDistanceBetweenPoints()

◆ ComputeDistanceToPoint()

◆ ComputePointCloud() [1/2]

◆ ComputePointCloud() [2/2]

◆ CreateDepthImage() [1/2]

◆ CreateDepthImage() [2/2]

◆ FilterSpeckles()

◆ FilterSpecklesFromImage()

◆ IsStereoCamera()

Member Data Documentation

◆ maxDepthThresholdInMeter

◆ maxDepthThresholdInMm