intersect_lines_of

intersect_lines_of_sight ( : : CamParam1, CamParam2, RelPose, Row1, Col1, Row2, Col2 : X, Y, Z, Dist )

Get a 3D point from the intersection of two lines of sight within a binocular camera system.

Given two lines of sight from different cameras, specified by their image points (Row1,Col1) of camera 1 and (Row2,Col2) of camera 2, intersect_lines_of_sight computes the 3D point of intersection of these lines. The binocular camera system is specified by its internal camera parameters CamParam1 of camera 1 and CamParam2 of camera 2, and the external parameters RelPose defining the pose of the cameras by a point transformation from camera 2 to camera 1. These camera parameters can be obtained, e.g., from the operator binocular_calibration, if the coordinates of the image points (Row1,Col1) and (Row2,Col2) refer to the respective original image coordinate system. In case of rectified image coordinates ( e.g., obtained from epipolar images), the rectified camera parameters must be passed, as they are returned by the operator gen_binocular_rectification_map. The 'point of intersection' is defined by the point with the shortest distance to both lines of sight. This point is returned in Cartesian coordinates (X,Y,Z) of camera system 1 and its distance to the lines of sight is passed in Dist.

Parameters

`CamParam1` (input_control)	number-array `->` real / integer
Internal parameters of camera 1.
Number of elements: 8

`CamParam2` (input_control)	number-array `->` real / integer
Internal parameters of camera 2.
Number of elements: 8

`RelPose` (input_control)	pose-array `->` real / integer
Point transformation from camera 2 to camera 1.
Number of elements: 7

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

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

`Row2` (input_control)	number(-array) `->` real / integer
Row coordinate of the corresponding point in image 2.

`Col2` (input_control)	number(-array) `->` real / integer
Column coordinate of the corresponding point in image 2.

`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.

`Dist` (output_control)	real(-array) `->` real
Distance of the 3D point to the lines of sight.

Result

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

Parallelization Information

intersect_lines_of_sight is reentrant and processed without parallelization.

Possible Predecessors

binocular_calibration

See also

disparity_to_point_3d

Module

3D Metrology