disparity_to_point

disparity_to_point_3d ( : : CamParamRect1, CamParamRect2, RelPoseRect, Row1, Col1, Disparity : X, Y, Z )

Transform an image point and its disparity into a 3D point in a rectified stereo system.

Given an image point of the rectified camera 1, specified by its image coordinates (Row1,Col1), and its disparity in a rectified binocular stereo system, disparity_to_point_3d computes the corresponding three dimensional object point. Whereby the disparity value Disparity defines the column difference of the image coordinates of two corresponding features on an epipolar line according to the equation d = c2 - c1 . The rectified binocular camera system is specified by its internal camera parameters CamParamRect1 of camera 1 and CamParamRect2 of camera 2, and the external parameters RelPoseRect defining the pose of the rectified camera 2 in relation to the rectified camera 1. These camera parameters can be obtained from the operators binocular_calibration and gen_binocular_rectification_map. The 3D point is returned in Cartesian coordinates (X,Y,Z) of the rectified camera system 1.

Parameters

`CamParamRect1` (input_control)	number-array `->` real / integer
Rectified internal camera parameters of camera 1.
Number of elements: 8

`CamParamRect2` (input_control)	number-array `->` real / integer
Rectified internal camera parameters of camera 2.
Number of elements: 8

`RelPoseRect` (input_control)	pose-array `->` real / integer
Pose of the rectified camera 2 in relation to the rectified camera 1.
Number of elements: 7

`Row1` (input_control)	number(-array) `->` real / integer
Row coordinate of a point in the rectified image 1.

`Col1` (input_control)	number(-array) `->` real / integer
Column coordinate of a point in the rectified image 1.

`Disparity` (input_control)	number(-array) `->` real / integer
Disparity of the images of the world point.

`X` (output_control)	real(-array) `->` real
X coordinate of the 3D point.

`Y` (output_control)	real(-array) `->` real
Y coordinate of the 3D point.

`Z` (output_control)	real(-array) `->` real
Z coordinate of the 3D point.

Result

disparity_to_point_3d returns 2 (H_MSG_TRUE) if all parameter values are correct. If necessary, an exception handling is raised.

Parallelization Information

disparity_to_point_3d is reentrant and processed without parallelization.

Possible Predecessors

binocular_calibration, gen_binocular_rectification_map

Possible Successors

binocular_disparity, binocular_distance

See also

intersect_lines_of_sight

Module

3D Metrology