sksurgerysurfacematch.interfaces.stereo_reconstructor module

Base class (pure virtual interface) for classes that do stereo recon.

class sksurgerysurfacematch.interfaces.stereo_reconstructor.StereoReconstructor[source]

Bases: object

Base class for stereo reconstruction algorithms. Clients call the reconstruct() method, passing in undistorted images. The output is an [Nx6] array where the N rows are each point, and the 6 columns are x, y, z, r, g, b.

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]

A derived class must implement this.

Camera parameters are those obtained from OpenCV.

Parameters:
  • left_image – left image, BGR
  • left_camera_matrix – [3x3] camera matrix
  • right_image – 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 in left camera space, where N is the number

of points, and 6 columns are x,y,z,r,g,b.