|
|
|
| Stereo depth calculation: |
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| Simple case, aligned cameras |
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| DISPARITY= (XL - XR) |
| Z |
| Similar
triangles: |
|
|
| Z
= (f/XL) X |
|
| Z= (f/XR) (X-d) |
|
| Solve for X: |
|
|
| (f/XL) X = (f/XR) (X-d) |
|
| X
= (XL d) / (XL - XR) |
|
| XL |
| XR |
| f |
| Solve for Z: |
| d*f |
| X |
| (XL
- XR) |
| (0,0)
(d,0) |