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The necessary steps to get mm x, y and z coordinates for all pixels are as follows
•Open the stereo camera by running the Open command
•Grab an image pair by calling Capture
•Perform depth computation via ComputeDisparityMap
•Convert the disparity values into x,y,z mm coordinates by calling ComputePointMap
•(Close the camera by calling Close)
After the call to ComputePointMap the PointMap node of the camera holds metric 3D point coordinates in world coordinates.
struct XYZ { |
* Open the camera and reference the camera's item at path "/Cameras/BySerialNo/1234" |