Distance of a line by camera points

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arun Dhillon 2019-6-7

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编辑： Matt J 2019-6-11

Hello Everyone

I have a stereo camera,

I want to figure out the angle of an object with respect to ground.

Please see the attached image.

I know the length of the line lp, hp and bc. What I want to do is to figure out the angle bac. I know if I can find either ab or ac; I can use trigonometry to solve for angel bac. But please edify me for how can I find this.

Any suggestions or help is greatly appreciated.

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Matt J 2019-6-10

I see no distance calculations in that code. The function there doesn't even return anything.

arun Dhillon 2019-6-10

The camera that I am using is Intel D435i, and to get the distance you have to use the following line of code.

depth.get_distance(x,y) %x,y are coordinates of the point that I wanna get distance for..

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Matt J 2019-6-11

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编辑：Matt J 2019-6-11

Well, I have no familiarity with the 3rd party Github library that you're using. However, it is a stereo camera class. So, it should offer you methods not just to calculate "depth", but the actual real-world coordinates of points in the image. Matlab's own stereo vision routines do offer such things

https://www.mathworks.com/help/vision/ref/triangulate.html#buefm11-1-stereoParams

https://www.mathworks.com/help/vision/ref/reconstructscene.html

Once you have the 3D coordinates of a,b, and c, you can of course calculate anything.