disparity_to_distanceT_disparity_to_distancedisparity_to_distanceDisparityToDistanceDisparityToDistance (Operator)

Name

disparity_to_distanceT_disparity_to_distancedisparity_to_distanceDisparityToDistanceDisparityToDistance — Transform a disparity value into a distance value in a rectified binocular stereo system.

Signature

Description

disparity_to_distancedisparity_to_distancedisparity_to_distanceDisparityToDistanceDisparityToDistance transforms a disparity value into a distance of an object point to the binocular stereo system. The cameras of this system must be rectified and are defined by the rectified internal parameters CamParamRect1CamParamRect1CamParamRect1CamParamRect1camParamRect1 of the projective camera 1 and CamParamRect2CamParamRect2CamParamRect2CamParamRect2camParamRect2 of the projective camera 2, and the external parameters RelPoseRectRelPoseRectRelPoseRectRelPoseRectrelPoseRect. Latter specifies the relative pose of both cameras to each other by defining a point transformation from rectified camera system 2 to rectified camera system 1. These parameters can be obtained from the operator calibrate_camerascalibrate_camerascalibrate_camerasCalibrateCamerasCalibrateCameras and gen_binocular_rectification_mapgen_binocular_rectification_mapgen_binocular_rectification_mapGenBinocularRectificationMapGenBinocularRectificationMap. The disparity value DisparityDisparityDisparityDisparitydisparity is defined by the column difference of the image coordinates of two corresponding points on an epipolar line according to the equation d = c2 - c1(see also binocular_disparitybinocular_disparitybinocular_disparityBinocularDisparityBinocularDisparity). This value characterises a set of 3D object points of an equal distance to a plane beeing parallel to the rectified image plane of the stereo system. The distance to the subset plane z=0 which is parallel to the rectified image plane and contains the optical centers of both cameras is returned in DistanceDistanceDistanceDistancedistance.

Parallelization

• Multithreading type: reentrant (runs in parallel with non-exclusive operators).
• Multithreading scope: global (may be called from any thread).
• Processed without parallelization.

Parameters

Result

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

Possible Predecessors

binocular_calibrationbinocular_calibrationbinocular_calibrationBinocularCalibrationBinocularCalibration, gen_binocular_rectification_mapgen_binocular_rectification_mapgen_binocular_rectification_mapGenBinocularRectificationMapGenBinocularRectificationMap, map_imagemap_imagemap_imageMapImageMapImage, binocular_disparitybinocular_disparitybinocular_disparityBinocularDisparityBinocularDisparity

Alternatives

binocular_distancebinocular_distancebinocular_distanceBinocularDistanceBinocularDistance

See also

distance_to_disparitydistance_to_disparitydistance_to_disparityDistanceToDisparityDistanceToDisparity, disparity_to_point_3ddisparity_to_point_3ddisparity_to_point_3dDisparityToPoint3dDisparityToPoint3d

Module

3D Metrology