reprojectImageTo3D

stereofunctionOpenCV 5.0.0

import { reprojectImageTo3D } from '@banou/opencv-wasm'

Use after await initOpenCV(). See the initialization and named imports guide.

ARGUMENTSdisparity, _3dImage, Q, handleMissingValues

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FUNCTIONreprojectImageTo3D

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RETURN TYPEvoid

Call structure. A void return can still write to destination arguments. The parameter descriptions define inputs, outputs and ownership.

Reprojects a disparity image to 3D space.

See: To reproject a sparse set of points {(x,y,d),...} to 3D space, use perspectiveTransform.

reprojectImageTo3D(disparity: Mat, _3dImage: Mat, Q: Mat, handleMissingValues: boolean, ddepth: number): void;

3 available overloads

reprojectImageTo3D(disparity: Mat, _3dImage: Mat, Q: Mat): void;

reprojectImageTo3D(disparity: Mat, _3dImage: Mat, Q: Mat, handleMissingValues: boolean): void;

reprojectImageTo3D(disparity: Mat, _3dImage: Mat, Q: Mat, handleMissingValues: boolean, ddepth: number): void;

disparity

Input single-channel 8-bit unsigned, 16-bit signed, 32-bit signed or 32-bit floating-point disparity image. The values of 8-bit / 16-bit signed formats are assumed to have no fractional bits. If the disparity is 16-bit signed format, as computed by StereoBM or StereoSGBM and maybe other algorithms, it should be divided by 16 (and scaled to float) before being used here.

_3dImage

Output destination, filled by the native operation. Output 3-channel floating-point image of the same size as disparity. Each element of _3dImage(x,y) contains 3D coordinates of the point (x,y) computed from the disparity map. If one uses Q obtained by stereoRectify, then the returned points are represented in the first camera's rectified coordinate system.

Q

4 \times 4 perspective transformation matrix that can be obtained with stereoRectify.

handleMissingValues

Indicates, whether the function should handle missing values (i.e. points where the disparity was not computed). If handleMissingValues=true, then pixels with the minimal disparity that corresponds to the outliers (see StereoMatcher::compute ) are transformed to 3D points with a very large Z value (currently set to 10000).

ddepth

The optional output array depth. If it is -1, the output image will have CV_32F depth. ddepth can also be set to CV_16S, CV_32S or CV_32F.

The function transforms a single-channel disparity map to a 3-channel image representing a 3D surface. That is, for each pixel (x,y) and the corresponding disparity d=disparity(x,y) , it computes:

\begin{bmatrix}
X \\
Y \\
Z \\
W
\end{bmatrix} = Q \begin{bmatrix}
x \\
y \\
\texttt{disparity} (x,y) \\
1
\end{bmatrix}.

Upstream declaration ↗

These signatures describe this package. Upstream documentation can mention optional backends that are absent from this build. Check runtime compatibility before choosing a backend or file format.