Opencv - карта глубины от некалиброванной стереосистемы

protected String toCamelCase(String input) {
    if (input == null) {
        return null;
    }

    if (input.length() == 0) {
        return "";
    }

    // lowercase the first character
    String camelCaseStr = input.substring(0, 1).toLowerCase();

    if (input.length() > 1) {
        boolean isStartOfWord = false;

        for (int i = 1; i < input.length(); i++) {
            char currChar = input.charAt(i);
            if (currChar == '_') {
                // new word. ignore underscore
                isStartOfWord = true;
            } else if (Character.isUpperCase(currChar)) {
                // capital letter. if start of word, keep it
                if (isStartOfWord) {
                    camelCaseStr += currChar;
                } else {
                    camelCaseStr += Character.toLowerCase(currChar);
                }
                isStartOfWord = false;
            } else {
                camelCaseStr += currChar;
                isStartOfWord = false;
            }
        }
    }

    return camelCaseStr;
}