@ Override public boolean process ( double x , double y ) { leftPixelToRect . compute ( x , y , pixelRect ) ; // round to the nearest pixel if ( ! disparity . process ( ( int ) ( pixelRect . x + 0.5 ) , ( int ) ( pixelRect . y + 0.5 ) ) ) return false ; // Compute coordinate in camera frame this . w = disparity . getDisparity ( ) ; computeHomo3D ( pixelRect . x , pixelRect . y , pointLeft ) ; return true ; }
Takes in pixel coordinates from the left camera in the original image coordinate system