distance_to_disparityT_distance_to_disparityDistanceToDisparityDistanceToDisparity (Operator)

Name

distance_to_disparityT_distance_to_disparityDistanceToDisparityDistanceToDisparity — Transfrom a distance value into a disparity in a rectified stereo system.

Signature

Description

distance_to_disparitydistance_to_disparityDistanceToDisparityDistanceToDisparityDistanceToDisparity transforms a distance of a 3D point to the binocular stereo system into a disparity value. The cameras of this system must be rectified and are defined by the rectified internal parameters CamParamRect1CamParamRect1CamParamRect1CamParamRect1camParamRect1 of the camera 1 and CamParamRect2CamParamRect2CamParamRect2CamParamRect2camParamRect2 of the camera 2 and the external parameters RelPoseRectRelPoseRectRelPoseRectRelPoseRectrelPoseRect. The latter specifies the relative pose of both camera systems to each other by defining a point transformation from the rectified camera system 2 to the rectified camera system 1. These parameters can be obtained from the operator calibrate_camerascalibrate_camerasCalibrateCamerasCalibrateCamerasCalibrateCameras and gen_binocular_rectification_mapgen_binocular_rectification_mapGenBinocularRectificationMapGenBinocularRectificationMapGenBinocularRectificationMap. The distance value is passed in DistanceDistanceDistanceDistancedistance and the resulting disparity value DisparityDisparityDisparityDisparitydisparity is defined by the column difference of the image coordinates of two corresponding features on an epipolar line according to the equation .

Attention

If using cameras with telecentric lenses, the DistanceDistanceDistanceDistancedistance 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_mapGenBinocularRectificationMapGenBinocularRectificationMapGenBinocularRectificationMap).

For stereo setups of mixed type (i.e., for a stereo setup in which one of the original cameras is a perspective camera and the other camera is a telecentric camera; see gen_binocular_rectification_mapgen_binocular_rectification_mapGenBinocularRectificationMapGenBinocularRectificationMapGenBinocularRectificationMap), the rectifying plane of the two cameras is in a position with respect to the object that would lead to very unintuitive distances. Therefore, distance_to_disparitydistance_to_disparityDistanceToDisparityDistanceToDisparityDistanceToDisparity does not support stereo setups of mixed type.

Additionally, stereo setups that contain cameras with and without hypercentric lenses at the same time are not supported.

Execution Information

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

Parameters

Result

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

Possible Predecessors

binocular_calibrationbinocular_calibrationBinocularCalibrationBinocularCalibrationBinocularCalibration, gen_binocular_rectification_mapgen_binocular_rectification_mapGenBinocularRectificationMapGenBinocularRectificationMapGenBinocularRectificationMap

Possible Successors

binocular_disparitybinocular_disparityBinocularDisparityBinocularDisparityBinocularDisparity

Module

3D Metrology