Name
disparity_to_point_3dT_disparity_to_point_3dDisparityToPoint3ddisparity_to_point_3dDisparityToPoint3dDisparityToPoint3d — Transform an image point and its disparity into a 3D point in a
rectified stereo system.
Herror disparity_to_point_3d(const HTuple& CamParamRect1, const HTuple& CamParamRect2, const HTuple& RelPoseRect, const HTuple& Row1, const HTuple& Col1, const HTuple& Disparity, double* X, double* Y, double* Z)
Herror 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)
void DisparityToPoint3d(const HTuple& CamParamRect1, const HTuple& CamParamRect2, const HTuple& RelPoseRect, const HTuple& Row1, const HTuple& Col1, const HTuple& Disparity, HTuple* X, HTuple* Y, HTuple* Z)
void HPose::DisparityToPoint3d(const HTuple& CamParamRect1, const HTuple& CamParamRect2, const HTuple& Row1, const HTuple& Col1, const HTuple& Disparity, HTuple* X, HTuple* Y, HTuple* Z) const
void HPose::DisparityToPoint3d(const HTuple& CamParamRect1, const HTuple& CamParamRect2, double Row1, double Col1, double Disparity, double* X, double* Y, double* Z) const
void HOperatorSetX.DisparityToPoint3d(
[in] VARIANT CamParamRect1, [in] VARIANT CamParamRect2, [in] VARIANT RelPoseRect, [in] VARIANT Row1, [in] VARIANT Col1, [in] VARIANT Disparity, [out] VARIANT* X, [out] VARIANT* Y, [out] VARIANT* Z)
VARIANT HPoseX.DisparityToPoint3d(
[in] VARIANT CamParamRect1, [in] VARIANT CamParamRect2, [in] VARIANT RelPoseRect, [in] VARIANT Row1, [in] VARIANT Col1, [in] VARIANT Disparity, [out] VARIANT* Y, [out] VARIANT* Z)
static void HOperatorSet.DisparityToPoint3d(HTuple camParamRect1, HTuple camParamRect2, HTuple relPoseRect, HTuple row1, HTuple col1, HTuple disparity, out HTuple x, out HTuple y, out HTuple z)
void HPose.DisparityToPoint3d(HTuple camParamRect1, HTuple camParamRect2, HTuple row1, HTuple col1, HTuple disparity, out HTuple x, out HTuple y, out HTuple z)
void HPose.DisparityToPoint3d(HTuple camParamRect1, HTuple camParamRect2, double row1, double col1, double disparity, out double x, out double y, out double z)
Given an image point of the rectified camera 1, specified by its image
coordinates (Row1Row1Row1Row1Row1row1,Col1Col1Col1Col1Col1col1), and its disparity in a rectified
binocular stereo system, disparity_to_point_3ddisparity_to_point_3dDisparityToPoint3ddisparity_to_point_3dDisparityToPoint3dDisparityToPoint3d computes the
corresponding three dimensional object point. Whereby the disparity
value DisparityDisparityDisparityDisparityDisparitydisparity 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 CamParamRect1CamParamRect1CamParamRect1CamParamRect1CamParamRect1camParamRect1 of the projective camera 1 and
CamParamRect2CamParamRect2CamParamRect2CamParamRect2CamParamRect2camParamRect2 of the projective camera 2, and the external
parameters RelPoseRectRelPoseRectRelPoseRectRelPoseRectRelPoseRectrelPoseRect defining the pose of the rectified camera 2
in relation to the rectified camera 1. These camera parameters can be
obtained from the operators calibrate_camerascalibrate_camerasCalibrateCamerascalibrate_camerasCalibrateCamerasCalibrateCameras and
gen_binocular_rectification_mapgen_binocular_rectification_mapGenBinocularRectificationMapgen_binocular_rectification_mapGenBinocularRectificationMapGenBinocularRectificationMap. The 3D point
is returned in Cartesian coordinates
(XXXXXx,YYYYYy,ZZZZZz) of the rectified camera system 1.
- Multithreading type: reentrant (runs in parallel with non-exclusive operators).
- Multithreading scope: global (may be called from any thread).
- Processed without parallelization.
Rectified internal camera parameters of the projective camera 1.
Number of elements: CamParamRect1 == 8 || CamParamRect1 == 12
Rectified internal camera parameters of the projective camera 2.
Number of elements: CamParamRect2 == 8 || CamParamRect2 == 12
Pose of the rectified camera 2 in relation to the
rectified camera 1.
Number of elements: 7
Row1Row1Row1Row1Row1row1 (input_control) number(-array) → HTupleHTupleHTupleVARIANTHtuple (real / integer) (double / int / long) (double / Hlong) (double / Hlong) (double / Hlong) (double / Hlong)
Row coordinate of a point in the rectified image 1.
Col1Col1Col1Col1Col1col1 (input_control) number(-array) → HTupleHTupleHTupleVARIANTHtuple (real / integer) (double / int / long) (double / Hlong) (double / Hlong) (double / Hlong) (double / Hlong)
Column coordinate of a point in the rectified image 1.
Disparity of the images of the world point.
XXXXXx (output_control) real(-array) → HTupleHTupleHTupleVARIANTHtuple (real) (double) (double) (double) (double) (double)
X coordinate of the 3D point.
YYYYYy (output_control) real(-array) → HTupleHTupleHTupleVARIANTHtuple (real) (double) (double) (double) (double) (double)
Y coordinate of the 3D point.
ZZZZZz (output_control) real(-array) → HTupleHTupleHTupleVARIANTHtuple (real) (double) (double) (double) (double) (double)
Z coordinate of the 3D point.
disparity_to_point_3ddisparity_to_point_3dDisparityToPoint3ddisparity_to_point_3dDisparityToPoint3dDisparityToPoint3d returns 2 (H_MSG_TRUE) if all parameter values
are correct. If necessary, an exception is raised.
binocular_calibrationbinocular_calibrationBinocularCalibrationbinocular_calibrationBinocularCalibrationBinocularCalibration,
gen_binocular_rectification_mapgen_binocular_rectification_mapGenBinocularRectificationMapgen_binocular_rectification_mapGenBinocularRectificationMapGenBinocularRectificationMap
disparity_image_to_xyzdisparity_image_to_xyzDisparityImageToXyzdisparity_image_to_xyzDisparityImageToXyzDisparityImageToXyz
binocular_disparitybinocular_disparityBinocularDisparitybinocular_disparityBinocularDisparityBinocularDisparity,
binocular_distancebinocular_distanceBinocularDistancebinocular_distanceBinocularDistanceBinocularDistance,
intersect_lines_of_sightintersect_lines_of_sightIntersectLinesOfSightintersect_lines_of_sightIntersectLinesOfSightIntersectLinesOfSight
3D Metrology