sksurgerysurfacematch.algorithms.stoyanov_reconstructor module¶
Surface reconstruction using Stoyanov MICCAI 2010 paper.
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class
sksurgerysurfacematch.algorithms.stoyanov_reconstructor.
StoyanovReconstructor
(use_hartley=False)[source]¶ Bases:
sksurgerysurfacematch.interfaces.stereo_reconstructor.StereoReconstructor
Constructor.
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reconstruct
(left_image: numpy.ndarray, left_camera_matrix: numpy.ndarray, right_image: numpy.ndarray, right_camera_matrix: numpy.ndarray, left_to_right_rmat: numpy.ndarray, left_to_right_tvec: numpy.ndarray, left_mask: numpy.ndarray = None)[source]¶ Implementation of dense stereo surface reconstruction using Dan Stoyanov’s MICCAI 2010 method.
Camera parameters are those obtained from OpenCV.
Parameters: - left_image – undistorted left image, BGR
- left_camera_matrix – [3x3] camera matrix
- right_image – undistorted right image, BGR
- right_camera_matrix – [3x3] camera matrix
- left_to_right_rmat – [3x3] rotation matrix
- left_to_right_tvec – [3x1] translation vector
- left_mask – mask image, single channel, same size as left_image
Returns: [Nx6] point cloud where the 6 columns
are x, y, z in left camera space, and r, g, b, colors.
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