public void computeHomo3D ( double x , double y , Point3D_F64 pointLeft ) { // Coordinate in rectified camera frame pointRect . z = baseline * fx ; pointRect . x = pointRect . z * ( x - cx ) / fx ; pointRect . y = pointRect . z * ( y - cy ) / fy ; // rotate into the original left camera frame GeometryMath_F64 . multTran ( rectR , pointRect , pointLeft ) ; }
Given a coordinate of a point in the left rectified frame compute the point s 3D coordinate in the camera s reference frame in homogeneous coordinates . To convert the coordinate into normal 3D divide each element by the disparity .