Table Of Contents

Convert Pixel to 3D Coordinates (G Dataflow)

Last Modified: June 25, 2019

Transforms pixel coordinates into real-world 3D coordinates according to the disparity value at the input pixel coordinates and the stereo calibration information present in binocular stereo session in.

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invalid disparity replace value

Pixel value assigned to invalid disparity values in the input disparity image. Use the same value that was used either in the Stereo Correspondence (Block Matching) node or Stereo Correspondence (SG Block Matching) node.

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relative coordinate system

Relative position (offset) of the coordinate system with respect to the coordinate system that is centered on the left camera in which the real-world points are returned.

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translation

X, Y, and Z translation offsets of the new coordinate system from the coordinate system centered on the left camera.

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rotation

Rotation about the X, Y, and Z values of the new coordinate system from the coordinate system centered on the left camera.

The angles are given in radians.

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binocular stereo session in

Reference to the binocular stereo vision session on which this node operates.

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disparity image

Reference to the image that contains the disparity values.

This image is the output of the Stereo Correspondence (Block Matching) node or the Stereo Correspondence (SG Block Matching) node.

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pixel coordinates

Cluster of pixel coordinates to convert to real-world 3D coordinates.

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array of pixel coordinates

Array of pixel coordinate clusters to convert to real-world 3D coordinates.

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error in

Error conditions that occur before this node runs.

The node responds to this input according to standard error behavior.

Standard Error Behavior

Many nodes provide an error in input and an error out output so that the node can respond to and communicate errors that occur while code is running. The value of error in specifies whether an error occurred before the node runs. Most nodes respond to values of error in in a standard, predictable way.

error in does not contain an error error in contains an error
If no error occurred before the node runs, the node begins execution normally.

If no error occurs while the node runs, it returns no error. If an error does occur while the node runs, it returns that error information as error out.

If an error occurred before the node runs, the node does not execute. Instead, it returns the error in value as error out.

Default: No error

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depth control

Range of depth values that are valid for the system.

If the value is out of range, NaN is returned.

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valid coordinates

Boolean that specifies if the output was computed with a valid disparity value.

Output returns TRUE if the output real world 3D coordinates has been computed with a valid disparity value.

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binocular stereo session out

Reference to the stereo vision session on which this node operates.

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disparity image dup

Reference to the input disparity image.

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real world 3D coordinates

Cluster of real-world point coordinates that correspond to the points specified by pixel coordinates.

The real-world coordinates (X, Y, Z) are computed by using the value in the disparity image at the coordinates specified by the pixel Coordinates and the values of the coordinates (X,Y).

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array of real world 3D coordinates

Array of real-world point coordinates corresponding to the array of pixel coordinates specified by array of pixel coordinates.

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error out

Error information.

The node produces this output according to standard error behavior.

Standard Error Behavior

Many nodes provide an error in input and an error out output so that the node can respond to and communicate errors that occur while code is running. The value of error in specifies whether an error occurred before the node runs. Most nodes respond to values of error in in a standard, predictable way.

error in does not contain an error error in contains an error
If no error occurred before the node runs, the node begins execution normally.

If no error occurs while the node runs, it returns no error. If an error does occur while the node runs, it returns that error information as error out.

If an error occurred before the node runs, the node does not execute. Instead, it returns the error in value as error out.
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array of valid coordinates

Array of Boolean values specifying if each transformation of the array of pixel coordinates is valid.

Values are further validated if the value in the disparity image at that pixel coordinate is valid.

Where This Node Can Run:

Desktop OS: Windows

FPGA: Not supported

Web Server: Not supported in VIs that run in a web application


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