disparity_to_distanceT_disparity_to_distanceDisparityToDistanceDisparityToDistancedisparity_to_distance（算子）

名称

disparity_to_distanceT_disparity_to_distanceDisparityToDistanceDisparityToDistancedisparity_to_distance — 在校正的双目立体系统中将视差值变换为距离值。

签名

描述

disparity_to_distancedisparity_to_distanceDisparityToDistanceDisparityToDistanceDisparityToDistancedisparity_to_distance 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 CamParamRect1CamParamRect1CamParamRect1CamParamRect1camParamRect1cam_param_rect_1 of camera 1 and CamParamRect2CamParamRect2CamParamRect2CamParamRect2camParamRect2cam_param_rect_2 of camera 2, and the external parameters RelPoseRectRelPoseRectRelPoseRectRelPoseRectrelPoseRectrel_pose_rect. 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_camerasCalibrateCamerasCalibrateCamerasCalibrateCamerascalibrate_cameras 和 gen_binocular_rectification_mapgen_binocular_rectification_mapGenBinocularRectificationMapGenBinocularRectificationMapGenBinocularRectificationMapgen_binocular_rectification_map。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_disparityBinocularDisparityBinocularDisparityBinocularDisparitybinocular_disparity). 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。

注意

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_mapGenBinocularRectificationMapGenBinocularRectificationMapGenBinocularRectificationMapgen_binocular_rectification_map）。

For a stereo setup 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_mapGenBinocularRectificationMapGenBinocularRectificationMapGenBinocularRectificationMapgen_binocular_rectification_map), the rectifying plane of the two cameras is in a position with respect to the object that would lead to very unintuitive distances. Therefore, disparity_to_distancedisparity_to_distanceDisparityToDistanceDisparityToDistanceDisparityToDistancedisparity_to_distance does not support stereo setups of mixed type. For stereo setups of mixed type, disparity_to_point_3ddisparity_to_point_3dDisparityToPoint3dDisparityToPoint3dDisparityToPoint3ddisparity_to_point_3d should be used instead.

此外，同时包含配备和未配备超中心镜头的相机的立体设置不受支持。

执行信息

• 多线程类型：可重入（与非独占算子并行运行）。
• 多线程作用域：全局（可从任何线程调用）。
• 未采用并行化处理。

参数

结果

disparity_to_distancedisparity_to_distanceDisparityToDistanceDisparityToDistanceDisparityToDistancedisparity_to_distance 在所有参数值正确时返回 2 (H_MSG_TRUE)。如有必要，则抛出异常。

可能的前趋

binocular_calibrationbinocular_calibrationBinocularCalibrationBinocularCalibrationBinocularCalibrationbinocular_calibration, gen_binocular_rectification_mapgen_binocular_rectification_mapGenBinocularRectificationMapGenBinocularRectificationMapGenBinocularRectificationMapgen_binocular_rectification_map, map_imagemap_imageMapImageMapImageMapImagemap_image, binocular_disparitybinocular_disparityBinocularDisparityBinocularDisparityBinocularDisparitybinocular_disparity

替代

binocular_distancebinocular_distanceBinocularDistanceBinocularDistanceBinocularDistancebinocular_distance

另见

distance_to_disparitydistance_to_disparityDistanceToDisparityDistanceToDisparityDistanceToDisparitydistance_to_disparity, disparity_to_point_3ddisparity_to_point_3dDisparityToPoint3dDisparityToPoint3dDisparityToPoint3ddisparity_to_point_3d

模块

三维计量