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disparity_to_distanceT_disparity_to_distanceDisparityToDistancedisparity_to_distanceDisparityToDistanceDisparityToDistance (Operator)

Name

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

Signature

disparity_to_distance( : : CamParamRect1, CamParamRect2, RelPoseRect, Disparity : Distance)

Herror T_disparity_to_distance(const Htuple CamParamRect1, const Htuple CamParamRect2, const Htuple RelPoseRect, const Htuple Disparity, Htuple* Distance)

Herror disparity_to_distance(const HTuple& CamParamRect1, const HTuple& CamParamRect2, const HTuple& RelPoseRect, const HTuple& Disparity, double* Distance)

Herror disparity_to_distance(const HTuple& CamParamRect1, const HTuple& CamParamRect2, const HTuple& RelPoseRect, const HTuple& Disparity, HTuple* Distance)

void DisparityToDistance(const HTuple& CamParamRect1, const HTuple& CamParamRect2, const HTuple& RelPoseRect, const HTuple& Disparity, HTuple* Distance)

HTuple HPose::DisparityToDistance(const HTuple& CamParamRect1, const HTuple& CamParamRect2, const HTuple& Disparity) const

double HPose::DisparityToDistance(const HTuple& CamParamRect1, const HTuple& CamParamRect2, double Disparity) const

void HOperatorSetX.DisparityToDistance(
[in] VARIANT CamParamRect1, [in] VARIANT CamParamRect2, [in] VARIANT RelPoseRect, [in] VARIANT Disparity, [out] VARIANT* Distance)

VARIANT HPoseX.DisparityToDistance(
[in] VARIANT CamParamRect1, [in] VARIANT CamParamRect2, [in] VARIANT RelPoseRect, [in] VARIANT Disparity)

static void HOperatorSet.DisparityToDistance(HTuple camParamRect1, HTuple camParamRect2, HTuple relPoseRect, HTuple disparity, out HTuple distance)

HTuple HPose.DisparityToDistance(HTuple camParamRect1, HTuple camParamRect2, HTuple disparity)

double HPose.DisparityToDistance(HTuple camParamRect1, HTuple camParamRect2, double disparity)

Description

disparity_to_distancedisparity_to_distanceDisparityToDistancedisparity_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 CamParamRect1CamParamRect1CamParamRect1CamParamRect1CamParamRect1camParamRect1 of camera 1 and CamParamRect2CamParamRect2CamParamRect2CamParamRect2CamParamRect2camParamRect2 of camera 2, and the external parameters RelPoseRectRelPoseRectRelPoseRectRelPoseRectRelPoseRectrelPoseRect. 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_camerasCalibrateCamerascalibrate_camerasCalibrateCamerasCalibrateCameras and gen_binocular_rectification_mapgen_binocular_rectification_mapGenBinocularRectificationMapgen_binocular_rectification_mapGenBinocularRectificationMapGenBinocularRectificationMap. The disparity value DisparityDisparityDisparityDisparityDisparitydisparity is defined by the column difference of the image coordinates of two corresponding points on an epipolar line according to the equation (see also binocular_disparitybinocular_disparityBinocularDisparitybinocular_disparityBinocularDisparityBinocularDisparity). This value characterises a set of 3D object points of an equal distance to a plane being 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 DistanceDistanceDistanceDistanceDistancedistance.

Attention

If using cameras with telecentric lenses, the DistanceDistanceDistanceDistanceDistancedistance is not defined as the distance of a point to the camera but as the distance from the point to the plane, defined by the y-axes of both cameras and their baseline (see gen_binocular_rectification_mapgen_binocular_rectification_mapGenBinocularRectificationMapgen_binocular_rectification_mapGenBinocularRectificationMapGenBinocularRectificationMap).

Parallelization

Parameters

CamParamRect1CamParamRect1CamParamRect1CamParamRect1CamParamRect1camParamRect1 (input_control)  number-array HTupleHTupleHTupleVARIANTHtuple (real / integer) (double / int / long) (double / Hlong) (double / Hlong) (double / Hlong) (double / Hlong)

Rectified internal camera parameters of the projective camera 1.

Number of elements: CamParamRect1 == 8 || CamParamRect1 == 12

CamParamRect2CamParamRect2CamParamRect2CamParamRect2CamParamRect2camParamRect2 (input_control)  number-array HTupleHTupleHTupleVARIANTHtuple (real / integer) (double / int / long) (double / Hlong) (double / Hlong) (double / Hlong) (double / Hlong)

Rectified internal camera parameters of the projective camera 2.

Number of elements: CamParamRect2 == 8 || CamParamRect2 == 12

RelPoseRectRelPoseRectRelPoseRectRelPoseRectRelPoseRectrelPoseRect (input_control)  pose HPose, HTupleHTupleHTupleHPoseX, VARIANTHtuple (real / integer) (double / int / long) (double / Hlong) (double / Hlong) (double / Hlong) (double / Hlong)

Point transformation from the rectified camera 2 to the rectified camera 1.

Number of elements: 7

DisparityDisparityDisparityDisparityDisparitydisparity (input_control)  number(-array) HTupleHTupleHTupleVARIANTHtuple (real / integer) (double / int / long) (double / Hlong) (double / Hlong) (double / Hlong) (double / Hlong)

Disparity between the images of the world point.

DistanceDistanceDistanceDistanceDistancedistance (output_control)  real(-array) HTupleHTupleHTupleVARIANTHtuple (real) (double) (double) (double) (double) (double)

Distance of a world point to the rectified camera system.

Result

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

Possible Predecessors

binocular_calibrationbinocular_calibrationBinocularCalibrationbinocular_calibrationBinocularCalibrationBinocularCalibration, gen_binocular_rectification_mapgen_binocular_rectification_mapGenBinocularRectificationMapgen_binocular_rectification_mapGenBinocularRectificationMapGenBinocularRectificationMap, map_imagemap_imageMapImagemap_imageMapImageMapImage, binocular_disparitybinocular_disparityBinocularDisparitybinocular_disparityBinocularDisparityBinocularDisparity

Alternatives

binocular_distancebinocular_distanceBinocularDistancebinocular_distanceBinocularDistanceBinocularDistance

See also

distance_to_disparitydistance_to_disparityDistanceToDisparitydistance_to_disparityDistanceToDisparityDistanceToDisparity, disparity_to_point_3ddisparity_to_point_3dDisparityToPoint3ddisparity_to_point_3dDisparityToPoint3dDisparityToPoint3d

Module

3D Metrology


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