T_disparity_to_point_3d (Operator)

Name

T_disparity_to_point_3d — Transform an image point and its disparity into a 3D point in a rectified stereo system.

Synopsis

Herror T_disparity_to_point_3d(const Htuple CamParamRect1, const Htuple CamParamRect2, const Htuple RelPoseRect, const Htuple Row1, const Htuple Col1, const Htuple Disparity, Htuple* X, Htuple* Y, Htuple* Z)

Description

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 the projective camera 1 and CamParamRect2 of the projective 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 → Htuple (double / Hlong)
Rectified internal camera parameters of the projective camera 1.
Number of elements: (CamParamRect1 == 8) || (CamParamRect1 == 12)

CamParamRect2 (input_control)	number-array → Htuple (double / Hlong)
Rectified internal camera parameters of the projective camera 2.
Number of elements: (CamParamRect2 == 8) || (CamParamRect2 == 12)

RelPoseRect (input_control)	pose-array → Htuple (double / Hlong)
Pose of the rectified camera 2 in relation to the rectified camera 1.
Number of elements: 7

Row1 (input_control)	number(-array) → Htuple (double / Hlong)
Row coordinate of a point in the rectified image 1.

Col1 (input_control)	number(-array) → Htuple (double / Hlong)
Column coordinate of a point in the rectified image 1.

Disparity (input_control)	number(-array) → Htuple (double / Hlong)
Disparity of the images of the world point.

X (output_control)	real(-array) → Htuple (double)
X coordinate of the 3D point.

Y (output_control)	real(-array) → Htuple (double)
Y coordinate of the 3D point.

Z (output_control)	real(-array) → Htuple (double)
Z coordinate of the 3D point.

Result

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

Parallelization Information

disparity_to_point_3d is reentrant and processed without parallelization.

Possible Predecessors

binocular_calibration, gen_binocular_rectification_map

Alternatives

disparity_image_to_xyz

See also

binocular_disparity, binocular_distance, intersect_lines_of_sight

Module

3D Metrology