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	ProcessDisparity (const ImagePtr &disparityImage, const ImagePtr &rectifiedImage, const DisparityProcessingMethod processingMethod, const StereoCameraParameters &stereoCameraParameters)
	Post-process the disparity image by filling in holes and reducing noise using the specified disparity processing method.

static void	ProcessDisparityFromImage (ImagePtr &disparityImage, const ImagePtr &rectifiedImage, const DisparityProcessingMethod processingMethod, const StereoCameraParameters &stereoCameraParameters)

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

static ImagePtr	CreateGradientImage (const ImagePtr &rectifiedImage)
	Creates an 8-bit gradient magnitude image from rectified image.

static void	CreateGradientImage (const ImagePtr &rectifiedImage, ImagePtr &gradientImage)
	Creates an 8-bit gradient magnitude image from rectified image.

static ImagePtr	EdgeInterpolation (const ImagePtr &disparityImage, const float invalidDataValue, const ImagePtr &gradientImage, const float edgeThreshold, const int maxDistance)
	Performs edge-aware interpolation on the input disparity image to fill in invalid pixels, using information from nearby valid pixels and edges.

static void	EdgeInterpolationFromImage (ImagePtr &disparityImage, const float invalidDataValue, const ImagePtr &gradientImage, const float edgeThreshold, const int maxDistance)
	Performs edge-aware interpolation in-place on the input disparity image to fill in invalid pixels, using information from nearby valid pixels and edges.

static ImagePtr	JointBilateral (const ImagePtr &disparityImage, const ImagePtr &rectifiedImage, const float sigmaSpatial, const float sigmaColor, const int filterDiameter)
	Applies a joint bilateral filter on the input disparity image using the corresponding rectified image as a guide.

static void	JointBilateralFromImage (ImagePtr &disparityImage, const ImagePtr &rectifiedImage, const float sigmaSpatial, const float sigmaColor, const int filterDiameter)
	Applies a joint bilateral filter in-place on the input disparity image using the corresponding rectified image as a guide.

static ImagePtr	DomainTransform (const ImagePtr &disparityImage, const ImagePtr &rectifiedImage, const float sigmaSpatial, const float sigmaColor, const int numIterations=3)
	Applies a fast, edge-preserving filter on the input disparity image using the domain transform normalized convolution technique.

static void	DomainTransformFromImage (ImagePtr &disparityImage, const ImagePtr &rectifiedImage, const float sigmaSpatial, const float sigmaColor, const int numIterations=3)
	Applies a fast, edge-preserving filter in-place on the input disparity image using the domain transform normalized convolution technique.

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 &rectifiedImage, const PointCloudParameters &pointCloudParameters, const StereoCameraParameters &stereoCameraParameters)
	Computes 3D point cloud from a stereo pair consisting of a disparity/rectified image using a stereo matching algorithm.

static void	ComputePointCloud (const ImagePtr &disparityImage, const ImagePtr &rectifiedImage, const PointCloudParameters &pointCloudParameters, const StereoCameraParameters &stereoCameraParameters, PointCloud &pointCloud)
	Computes 3D point cloud from a stereo pair consisting of a disparity/rectified image 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 &	rectifiedImage,
		const PointCloudParameters &	pointCloudParameters,
		const StereoCameraParameters &	stereoCameraParameters
	)

static

Computes 3D point cloud from a stereo pair consisting of a disparity/rectified image using a stereo matching algorithm.

Parameters

disparityImage	The disparity image from a stereo pair consisting of a disparity/rectified image.
rectifiedImage	The rectified image from a stereo pair consisting of a disparity/rectified 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 &	rectifiedImage,
		const PointCloudParameters &	pointCloudParameters,
		const StereoCameraParameters &	stereoCameraParameters,
		PointCloud &	pointCloud
	)

static

Computes 3D point cloud from a stereo pair consisting of a disparity/rectified image using a stereo matching algorithm.

Parameters

disparityImage	The disparity image from a stereo pair consisting of a disparity/rectified image.
rectifiedImage	The rectified image from a stereo pair consisting of a disparity/rectified 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

◆ CreateGradientImage() [1/2]

static ImagePtr CreateGradientImage ( const ImagePtr & rectifiedImage )

static

Creates an 8-bit gradient magnitude image from rectified image.

The gradient magnitude is computed by converting rectified image to a grayscale image and applying Sobel filters in the X and Y direction.

Parameters

rectifiedImage Rectified image

Returns: Gradient magnitude image

◆ CreateGradientImage() [2/2]

static void CreateGradientImage	(	const ImagePtr &	rectifiedImage,
		ImagePtr &	gradientImage
	)

static

Creates an 8-bit gradient magnitude image from rectified image.

The gradient magnitude is computed by converting rectified image to a grayscale image and applying Sobel filters in the X and Y direction. Resulting gradient data is stored in the provided gradientImage object.

Parameters

rectifiedImage	Rectified image
gradientImage	The image where the gradient data will be stored

◆ DomainTransform()

static ImagePtr DomainTransform	(	const ImagePtr &	disparityImage,
		const ImagePtr &	rectifiedImage,
		const float	sigmaSpatial,
		const float	sigmaColor,
		const int	numIterations = `3`
	)

static

Applies a fast, edge-preserving filter on the input disparity image using the domain transform normalized convolution technique.

The filter uses a joint image to guide smoothing, preserving edges present in the guide while smoothing the target image. Note that only Mono16 pixel format disparity image is supported.

Parameters

disparityImage	The disparity image (Mono16)
rectifiedImage	The rectified image
sigmaSpatial	The spatial standard deviation for the filter
sigmaColor	The color standard deviation for the filter
numIterations	The number of iterations to perform (default is 3)

Returns: Filtered disparity image

◆ DomainTransformFromImage()

static void DomainTransformFromImage	(	ImagePtr &	disparityImage,
		const ImagePtr &	rectifiedImage,
		const float	sigmaSpatial,
		const float	sigmaColor,
		const int	numIterations = `3`
	)

static

Applies a fast, edge-preserving filter in-place on the input disparity image using the domain transform normalized convolution technique.

The filter uses a joint image to guide smoothing, preserving edges present in the guide while smoothing the target image. Note that only Mono16 pixel format disparity image is supported.

Parameters

disparityImage	The disparity image (Mono16)
rectifiedImage	The rectified image
sigmaSpatial	The spatial standard deviation for the filter
sigmaColor	The color standard deviation for the filter
numIterations	The number of iterations to perform (default is 3)

◆ EdgeInterpolation()

static ImagePtr EdgeInterpolation	(	const ImagePtr &	disparityImage,
		const float	invalidDataValue,
		const ImagePtr &	gradientImage,
		const float	edgeThreshold,
		const int	maxDistance
	)

static

Performs edge-aware interpolation on the input disparity image to fill in invalid pixels, using information from nearby valid pixels and edges.

Note that only Mono16 pixel format disparity image is supported.

See also: CreateGradientImage

Parameters

disparityImage	The disparity image (Mono16)
invalidDataValue	The value assigned to invalid data
gradientImage	The gradient magnitude image (Mono8)
edgeThreshold	The threshold for edge detection
maxDistance	The maximum distance to search for valid pixels

Returns: Edge-aware interpolated image

◆ EdgeInterpolationFromImage()

static void EdgeInterpolationFromImage	(	ImagePtr &	disparityImage,
		const float	invalidDataValue,
		const ImagePtr &	gradientImage,
		const float	edgeThreshold,
		const int	maxDistance
	)

static

Performs edge-aware interpolation in-place on the input disparity image to fill in invalid pixels, using information from nearby valid pixels and edges.

Note that only Mono16 pixel format disparity image is supported.

See also: CreateGradientImage

Parameters

disparityImage	The disparity image (Mono16)
invalidDataValue	The value assigned to invalid data
gradientImage	The gradient magnitude image (Mono8)
edgeThreshold	The threshold for edge detection
maxDistance	The maximum distance to search for valid pixels

◆ FilterSpeckles()

static ImagePtr FilterSpeckles	(	const ImagePtr &	disparityImage,
		const int	maxSpeckleSize,
		const float	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 float	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

◆ JointBilateral()

static ImagePtr JointBilateral	(	const ImagePtr &	disparityImage,
		const ImagePtr &	rectifiedImage,
		const float	sigmaSpatial,
		const float	sigmaColor,
		const int	filterDiameter
	)

static

Applies a joint bilateral filter on the input disparity image using the corresponding rectified image as a guide.

This edge-preserving filter smooths the disparity image while maintaining sharp edges aligned with the guide image. The filter uses both spatial and color information to determine the influence of neighboring pixels. Only Mono16 pixel format disparity images are supported.

Parameters

disparityImage	The disparity image to be filtered (Mono16)
rectifiedImage	The rectified image used as the guide for edge preservation
sigmaSpatial	The spatial standard deviation for the filter kernel
sigmaColor	The color standard deviation for the filter kernel
filterDiameter	The diameter of the filter kernel

Returns: Joint bilateral filtered image

◆ JointBilateralFromImage()

static void JointBilateralFromImage	(	ImagePtr &	disparityImage,
		const ImagePtr &	rectifiedImage,
		const float	sigmaSpatial,
		const float	sigmaColor,
		const int	filterDiameter
	)

static

Applies a joint bilateral filter in-place on the input disparity image using the corresponding rectified image as a guide.

This edge-preserving filter smooths the disparity image while maintaining sharp edges aligned with the guide image. The filter uses both spatial and color information to determine the influence of neighboring pixels. Only Mono16 pixel format disparity images are supported.

Parameters

disparityImage	The disparity image to be filtered (Mono16)
rectifiedImage	The rectified image used as the guide for edge preservation
sigmaSpatial	The spatial standard deviation for the filter kernel
sigmaColor	The color standard deviation for the filter kernel
filterDiameter	The diameter of the filter kernel

◆ ProcessDisparity()

static ImagePtr ProcessDisparity	(	const ImagePtr &	disparityImage,
		const ImagePtr &	rectifiedImage,
		const DisparityProcessingMethod	processingMethod,
		const StereoCameraParameters &	stereoCameraParameters
	)

static

Post-process the disparity image by filling in holes and reducing noise using the specified disparity processing method.

The disparity image is expected to be a Mono16 pixel format image.

Parameters

disparityImage	The disparity image to fill
rectifiedImage	The rectified image used for filling
processingMethod	The method to use for post processing the disparity image

Returns: Post-processed disparity image

◆ ProcessDisparityFromImage()

static void ProcessDisparityFromImage	(	ImagePtr &	disparityImage,
		const ImagePtr &	rectifiedImage,
		const DisparityProcessingMethod	processingMethod,
		const StereoCameraParameters &	stereoCameraParameters
	)

static

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]

◆ CreateGradientImage() [1/2]

◆ CreateGradientImage() [2/2]

◆ DomainTransform()

◆ DomainTransformFromImage()

◆ EdgeInterpolation()

◆ EdgeInterpolationFromImage()

◆ FilterSpeckles()

◆ FilterSpecklesFromImage()

◆ IsStereoCamera()

◆ JointBilateral()

◆ JointBilateralFromImage()

◆ ProcessDisparity()

◆ ProcessDisparityFromImage()

Member Data Documentation

◆ maxDepthThresholdInMeter

◆ maxDepthThresholdInMm