Class Spinnaker::ImageUtilityStereo¶

ClassList > Spinnaker > ImageUtilityStereo

Static helper functions for stereo related computations.

#include <ImageUtilityStereo.h>

Public Static Attributes¶

Type	Name
uint16_t	maxDepthThresholdInMeter
uint16_t	maxDepthThresholdInMm

Public Static Functions¶

Type	Name
bool	Compute3DPointFromPixel (const uint16_t disparity, const Scan3DParameters & scan3dParams, Stereo3DPoint & stereo3DPoint)
bool	Compute3DPointFromPixel (const uint16_t disparity, const StereoCameraParameters & stereoCameraParameters, Stereo3DPoint & stereo3DPoint)
bool	ComputeDistanceBetweenPoints (const ImagePtr & rangeImage, const Scan3DParameters & scan3dParams, const ImagePixel & imagePixel1, const ImagePixel & imagePixel2, float & distance)
bool	ComputeDistanceBetweenPoints (const ImagePtr & rangeImage, const StereoCameraParameters & stereoParam, const ImagePixel & imagePixel1, const ImagePixel & ImagePixel2, float & distance)
bool	ComputeDistanceToPoint (const ImagePtr & rangeImage, const Scan3DParameters & scan3dParams, const ImagePixel & imagePixel, float & distance)
bool	ComputeDistanceToPoint (const ImagePtr & rangeImage, const StereoCameraParameters & stereoParam, const ImagePixel & imagePixel, float & distance)
PointCloud	ComputePointCloud (const ImagePtr & rangeImage, const ImagePtr & intensityImage, const PointCloudParameters & pointCloudParameters, const Scan3DParameters & scan3dParams) Computes 3D point cloud from stereo images (range + intensity).
PointCloud	ComputePointCloud (const ImagePtr & rangeImage, const ImagePtr & intensityImage, const PointCloudParameters & pointCloudParameters, const StereoCameraParameters & stereoCameraParameters)
void	ComputePointCloud (const ImagePtr & rangeImage, const ImagePtr & intensityImage, const PointCloudParameters & pointCloudParameters, const Scan3DParameters & scan3dParams, PointCloud & pointCloud)
void	ComputePointCloud (const ImagePtr & rangeImage, const ImagePtr & intensityImage, const PointCloudParameters & pointCloudParameters, const StereoCameraParameters & stereoCameraParameters, PointCloud & pointCloud)
ImagePtr	CreateDepthImage (const ImagePtr & rangeImage, const Scan3DParameters & scan3dParams, float & minDepthVal, float & maxDepthVal)
ImagePtr	CreateDepthImage (const ImagePtr & rangeImage, const StereoCameraParameters & stereoCameraParameters, const uint16_t invalidDepthVal, float & minDepthVal, float & maxDepthVal)
void	CreateDepthImage (const ImagePtr & rangeImage, const Scan3DParameters & scan3dParams, ImagePtr & depthImage, float & minDepthVal, float & maxDepthVal)
void	CreateDepthImage (const ImagePtr & rangeImage, const StereoCameraParameters & stereoCameraParameters, const uint16_t invalidDepthVal, ImagePtr & depthImage, float & minDepthVal, float & maxDepthVal)
ImagePtr	CreateGradientImage (const ImagePtr & rectifiedImage)
void	CreateGradientImage (const ImagePtr & rectifiedImage, ImagePtr & gradientImage)
ImagePtr	DomainTransform (const ImagePtr & disparityImage, const ImagePtr & rectifiedImage, const float sigmaSpatial, const float sigmaColor, const int numIterations=3)
void	DomainTransformFromImage (ImagePtr & disparityImage, const ImagePtr & rectifiedImage, const float sigmaSpatial, const float sigmaColor, const int numIterations=3)
ImagePtr	EdgeInterpolation (const ImagePtr & disparityImage, const float invalidDataValue, const ImagePtr & gradientImage, const float edgeThreshold, const int maxDistance)
void	EdgeInterpolationFromImage (ImagePtr & disparityImage, const float invalidDataValue, const ImagePtr & gradientImage, const float edgeThreshold, const int maxDistance)
ImagePtr	FilterSpeckles (const ImagePtr & disparityImage, const int maxSpeckleSize, const float speckleThreshold, const float disparityScaleFactor, const float invalidDataValue)
void	FilterSpecklesFromImage (ImagePtr & disparityImage, const int maxSpeckleSize, const float speckleThreshold, const float disparityScaleFactor, const float invalidDataValue)
bool	IsStereoCamera (CameraPtr pCamera)
ImagePtr	JointBilateral (const ImagePtr & disparityImage, const ImagePtr & rectifiedImage, const float sigmaSpatial, const float sigmaColor, const int filterDiameter)
void	JointBilateralFromImage (ImagePtr & disparityImage, const ImagePtr & rectifiedImage, const float sigmaSpatial, const float sigmaColor, const int filterDiameter)
ImagePtr	ProcessDisparity (const ImagePtr & disparityImage, const ImagePtr & rectifiedImage, const DisparityProcessingMethod processingMethod, const Scan3DParameters & scan3dParams)
ImagePtr	ProcessDisparity (const ImagePtr & disparityImage, const ImagePtr & rectifiedImage, const DisparityProcessingMethod processingMethod, const StereoCameraParameters & stereoCameraParameters)
void	ProcessDisparityFromImage (ImagePtr & disparityImage, const ImagePtr & rectifiedImage, const DisparityProcessingMethod processingMethod, const Scan3DParameters & scan3dParams)
void	ProcessDisparityFromImage (ImagePtr & disparityImage, const ImagePtr & rectifiedImage, const DisparityProcessingMethod processingMethod, const StereoCameraParameters & stereoCameraParameters)

Public Static Attributes Documentation¶

variable maxDepthThresholdInMeter¶

uint16_t Spinnaker::ImageUtilityStereo::maxDepthThresholdInMeter;

Deprecated

Use Scan3DParameters::GetAxisMax() and Scan3DParameters::GetDistanceUnit() instead.

variable maxDepthThresholdInMm¶

uint16_t Spinnaker::ImageUtilityStereo::maxDepthThresholdInMm;

Deprecated

Use Scan3DParameters::GetAxisMax() and Scan3DParameters::GetDistanceUnit() instead.

Public Static Functions Documentation¶

function Compute3DPointFromPixel [1/2]¶

static bool Spinnaker::ImageUtilityStereo::Compute3DPointFromPixel (
    const uint16_t disparity,
    const Scan3DParameters & scan3dParams,
    Stereo3DPoint & stereo3DPoint
)

Computes 3D point from disparity value.

Parameters:

disparity The disparity value
scan3dParams The 3D scan parameters containing camera calibration
stereo3DPoint The computed 3D point

See also: Scan3D

Returns:

True if the function finished successfully, or false otherwise

function Compute3DPointFromPixel [2/2]¶

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

Deprecated

Use Compute3DPointFromPixel with Scan3DParameters instead

function ComputeDistanceBetweenPoints [1/2]¶

static bool Spinnaker::ImageUtilityStereo::ComputeDistanceBetweenPoints (
    const ImagePtr & rangeImage,
    const Scan3DParameters & scan3dParams,
    const ImagePixel & imagePixel1,
    const ImagePixel & imagePixel2,
    float & distance
)

Computes the distance between two points in the Coord3D range/disparity image.

Supports multiple image payload types and pixel formats: * DISPARITY_SENSOR1: Mono16 disparity images * RANGE_SENSOR1/RANGE_SENSOR2: Coord3D formats (C16, C32f, ABC16, ABC32f)

Parameters:

rangeImage The Coord3D range/disparity image
scan3dParams The 3D scan parameters containing camera calibration
imagePixel1 The first pixel in the image
imagePixel2 The second pixel in the image
distance The distance between the two points

See also: Scan3D

Returns:

True if the function finished successfully, or false otherwise

function ComputeDistanceBetweenPoints [2/2]¶

static bool Spinnaker::ImageUtilityStereo::ComputeDistanceBetweenPoints (
    const ImagePtr & rangeImage,
    const StereoCameraParameters & stereoParam,
    const ImagePixel & imagePixel1,
    const ImagePixel & ImagePixel2,
    float & distance
)

Deprecated

Use ComputeDistanceBetweenPoints with Scan3DParameters instead

function ComputeDistanceToPoint [1/2]¶

static bool Spinnaker::ImageUtilityStereo::ComputeDistanceToPoint (
    const ImagePtr & rangeImage,
    const Scan3DParameters & scan3dParams,
    const ImagePixel & imagePixel,
    float & distance
)

Computes the distance of a point to the camera world coordinates origin, from the Coord3D range/disparity image.

Supports multiple image payload types and pixel formats: * DISPARITY_SENSOR1: Mono16 disparity images * RANGE_SENSOR1/RANGE_SENSOR2: Coord3D formats (C16, C32f, ABC16, ABC32f)

Parameters:

rangeImage The Coord3D range/disparity image
scan3dParams The 3D scan parameters containing camera calibration
imagePixel The pixel in the image
distance The distance of the point to the camera world coordinates origin

See also: Scan3D

Returns:

True if the function finished successfully, or false otherwise.

function ComputeDistanceToPoint [2/2]¶

static bool Spinnaker::ImageUtilityStereo::ComputeDistanceToPoint (
    const ImagePtr & rangeImage,
    const StereoCameraParameters & stereoParam,
    const ImagePixel & imagePixel,
    float & distance
)

Deprecated

Use ComputeDistanceToPoint with Scan3DParameters instead

function ComputePointCloud [1/4]¶

Computes 3D point cloud from stereo images (range + intensity).

static PointCloud Spinnaker::ImageUtilityStereo::ComputePointCloud (
    const ImagePtr & rangeImage,
    const ImagePtr & intensityImage,
    const PointCloudParameters & pointCloudParameters,
    const Scan3DParameters & scan3dParams
)

This function transforms range and intensity data from a stereo camera pair into a 3D point cloud using camera calibration parameters. Each point contains X, Y, Z coordinates in world space plus RGB color information from the intensity image.

The actual unit of measurement for the point cloud coordinates is determined by the Scan3DParameters camera calibration parameters.

Requirements: * rangeImage must be Mono16/Coord3D format containing disparity or range values * intensityImage provides RGB/intensity data for each point * Images must be from synchronized stereo pair with same dimensions * Scan3DParameterss must contain valid camera calibration

Point Cloud Computation: For each pixel (u, v) with disparity value d: * Z = (baseline * focalLength) / (d * coordinateScale + coordinateOffset) * X = (u - principalPointU) * Z / focalLength * Y = (v - principalPointV) * Z / focalLength

Parameters:

rangeImage The range image (Mono16/Coord3D format) from stereo matching
intensityImage The intensity image providing color/intensity data (Typically a rectified image)
pointCloudParameters Parameters controlling ROI, decimation, and filtering
scan3dParams Camera calibration parameters (baseline, focal length, etc.)

Returns:

PointCloud object containing 3D points with XYZ coordinates and RGB colors

// Example usage
ImagePtr disparityImg = imageList.GetByPayloadType(
    SPINNAKER_IMAGE_PAYLOAD_TYPE_DISPARITY_SENSOR1);
ImagePtr rectifiedImg = imageList.GetByPayloadType(
    SPINNAKER_IMAGE_PAYLOAD_TYPE_RECTIFIED_SENSOR1);

Scan3D scan3dParams;
scan3dParams.SetScan3DParameters(pCamera->GetNodeMap());

PointCloudParameters pcParams;
pcParams.decimationFactor = 1;  // No decimation
pcParams.ROIImageLeft = 0;
pcParams.ROIImageTop = 0;
pcParams.ROIImageRight = disparityImg->GetWidth();
pcParams.ROIImageBottom = disparityImg->GetHeight();

PointCloud pointCloud = ImageUtilityStereo::ComputePointCloud(
    disparityImg, rectifiedImg, pcParams, scan3dParams);

pointCloud.SavePointCloudAsPly("output.ply");

See also: Scan3D for camera calibration parameters

See also: PointCloudParameters for computation settings

See also: PointCloud for output format and saving options

See also: ProcessDisparity() for disparity preprocessing

Note:

For best results, preprocess disparity images using ProcessDisparity() to fill holes and reduce noise before computing the point cloud.

function ComputePointCloud [2/4]¶

static PointCloud Spinnaker::ImageUtilityStereo::ComputePointCloud (
    const ImagePtr & rangeImage,
    const ImagePtr & intensityImage,
    const PointCloudParameters & pointCloudParameters,
    const StereoCameraParameters & stereoCameraParameters
)

Deprecated

Use ComputePointCloud with Scan3DParameters instead

function ComputePointCloud [3/4]¶

static void Spinnaker::ImageUtilityStereo::ComputePointCloud (
    const ImagePtr & rangeImage,
    const ImagePtr & intensityImage,
    const PointCloudParameters & pointCloudParameters,
    const Scan3DParameters & scan3dParams,
    PointCloud & pointCloud
)

Computes 3D point cloud from a stereo pair consisting of a Coord3D range and intensity image using a stereo matching algorithm.

Parameters:

rangeImage The Coord3D range/disparity image from a stereo pair
intensityImage The intensity image from a stereo pair consisting (Typically a rectified image)
pointCloudParameters The parameters for computing the point cloud
scan3dParams The 3D scan parameters containing camera calibration
pointCloud The computed point cloud will be stored in this object

See also: Scan3D

See also: PointCloudParameters

function ComputePointCloud [4/4]¶

static void Spinnaker::ImageUtilityStereo::ComputePointCloud (
    const ImagePtr & rangeImage,
    const ImagePtr & intensityImage,
    const PointCloudParameters & pointCloudParameters,
    const StereoCameraParameters & stereoCameraParameters,
    PointCloud & pointCloud
)

Deprecated

Use ComputePointCloud with Scan3DParameters instead

function CreateDepthImage [1/4]¶

static ImagePtr Spinnaker::ImageUtilityStereo::CreateDepthImage (
    const ImagePtr & rangeImage,
    const Scan3DParameters & scan3dParams,
    float & minDepthVal,
    float & maxDepthVal
)

Computes a depth image.

The source image is required to carry Coord3D disparity or range information. Given disparity data, 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 depth data is transformed into world coodinates using the provided camera calibration from Scan3DParams and stored in Coord3D_C32f container.

The actual unit of measurement for the depth image is determined by the Scan3DParameters camera calibration parameters.

Parameters:

rangeImage The source image from which to create the depth values
scan3dParams The 3D scan parameters containing camera calibration
minDepthVal The actual minimum depth in the image
maxDepthVal The actual maximum depth in the image

See also: Scan3D

Returns:

The depth image

function CreateDepthImage [2/4]¶

static ImagePtr Spinnaker::ImageUtilityStereo::CreateDepthImage (
    const ImagePtr & rangeImage,
    const StereoCameraParameters & stereoCameraParameters,
    const uint16_t invalidDepthVal,
    float & minDepthVal,
    float & maxDepthVal
)

Deprecated

Use CreateDepthImage with Scan3DParameters instead

function CreateDepthImage [3/4]¶

static void Spinnaker::ImageUtilityStereo::CreateDepthImage (
    const ImagePtr & rangeImage,
    const Scan3DParameters & scan3dParams,
    ImagePtr & depthImage,
    float & minDepthVal,
    float & maxDepthVal
)

Computes a depth image.

The source image is required to carry Coord3D disparity or range information. Given disparity data, 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 depth data is transformed into world coodinates using the provided camera calibration from Scan3DParams and stored in Coord3D_C32f container.

The destination is required to be initialized with the appropriate Coord3D_C32f pixel format, and have the same width, height, x offset, and y offset as the source image.

The actual unit of measurement for the depth image is determined by the Scan3DParameters camera calibration parameters.

Parameters:

rangeImage The source image from which to create the depth values
scan3dParams The 3D scan parameters containing camera calibration
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

See also: Scan3D

function CreateDepthImage [4/4]¶

static void Spinnaker::ImageUtilityStereo::CreateDepthImage (
    const ImagePtr & rangeImage,
    const StereoCameraParameters & stereoCameraParameters,
    const uint16_t invalidDepthVal,
    ImagePtr & depthImage,
    float & minDepthVal,
    float & maxDepthVal
)

Deprecated

Use CreateDepthImage with Scan3DParameters instead

function CreateGradientImage [1/2]¶

static ImagePtr Spinnaker::ImageUtilityStereo::CreateGradientImage (
    const ImagePtr & rectifiedImage
)

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

function CreateGradientImage [2/2]¶

static void Spinnaker::ImageUtilityStereo::CreateGradientImage (
    const ImagePtr & rectifiedImage,
    ImagePtr & gradientImage
)

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

function DomainTransform¶

static ImagePtr Spinnaker::ImageUtilityStereo::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. 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

function DomainTransformFromImage¶

static void Spinnaker::ImageUtilityStereo::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. 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)

function EdgeInterpolation¶

static ImagePtr Spinnaker::ImageUtilityStereo::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. 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

function EdgeInterpolationFromImage¶

static void Spinnaker::ImageUtilityStereo::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. 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

function FilterSpeckles¶

static ImagePtr Spinnaker::ImageUtilityStereo::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. 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

function FilterSpecklesFromImage¶

static void Spinnaker::ImageUtilityStereo::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. 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

function IsStereoCamera¶

static bool Spinnaker::ImageUtilityStereo::IsStereoCamera (
    CameraPtr pCamera
)

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

Parameters:

pCamera The camera

Returns:

True if the camera is a stereo camera, or false otherwise

function JointBilateral¶

static ImagePtr Spinnaker::ImageUtilityStereo::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. 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

function JointBilateralFromImage¶

static void Spinnaker::ImageUtilityStereo::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. 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

function ProcessDisparity [1/2]¶

static ImagePtr Spinnaker::ImageUtilityStereo::ProcessDisparity (
    const ImagePtr & disparityImage,
    const ImagePtr & rectifiedImage,
    const DisparityProcessingMethod processingMethod,
    const Scan3DParameters & scan3dParams
)

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
scan3dParams The 3D scan parameters containing camera calibration

See also: Scan3DParameters

Returns:

Post-processed disparity image

function ProcessDisparity [2/2]¶

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

Deprecated

Use ProcessDisparity with Scan3DParameters instead

function ProcessDisparityFromImage [1/2]¶

static void Spinnaker::ImageUtilityStereo::ProcessDisparityFromImage (
    ImagePtr & disparityImage,
    const ImagePtr & rectifiedImage,
    const DisparityProcessingMethod processingMethod,
    const Scan3DParameters & scan3dParams
)

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
scan3dParams The 3D scan parameters containing camera calibration

See also: Scan3D

function ProcessDisparityFromImage [2/2]¶

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

Deprecated

Use ProcessDisparityFromImage with Scan3DParameters instead

The documentation for this class was generated from the following file C:/workspace/include/ImageUtilityStereo.h