How do I find 3D coordinates from stereo picture pair?

Question

Maurice Kasprowsky 2020-8-21

0
链接

此问题的直接链接

https://ww2.mathworks.cn/matlabcentral/answers/582506-how-do-i-find-3d-coordinates-from-stereo-picture-pair

评论： Maurice Kasprowsky 2020-8-25

I am trying to measure the distance between two points (e.g. length of pen by using each end as a point) in a 3 dimensional space.

I have:

taken stereo images
calibrated the cameras
rectified the images
created a disparity map
generated a point cloud

Now, I need to get the 3D coordinates for both of the points, to then calculate the distance between the two points. How do I get the 3D coordinates for a point? Moreover, how would I be able to choose the point in the first place? Is there an option to just choose a point straight from an image and MATLAB then gives you the coordinates? Or is there even some sort of code which let's me chose two points and then automatically calculates the distance between the two points?

0 个评论
显示 -2更早的评论隐藏 -2更早的评论

请先登录，再进行评论。

请先登录，再回答此问题。

Answer 1

Qu Cao 2020-8-24

0
链接

此回答的直接链接

https://ww2.mathworks.cn/matlabcentral/answers/582506-how-do-i-find-3d-coordinates-from-stereo-picture-pair#answer_484358

You can use reconstructScene function to compute the 3-D world points from a disparity map. Then, you can query the 3-D coordinates of an image point by its location in the image coordinates.

1 个评论
显示 -1更早的评论隐藏 -1更早的评论

Maurice Kasprowsky 2020-8-25

Thanks. I used recostructScene already to get the point cloud. I used getpts to select the points of interest. Should I use the left or the right image, and should I use the rectified or non-rectified version of that image to select the point? What is the command to query the 3D coordinates from the image coordinates I got?

请先登录，再进行评论。