ComputePointMap

Converts the disparity map of a stereo camera (computed by ComputeDisparityMap) into an ordered point map, i.e. a three channel image with metric xyz coordinates. The point map is published under the Images/PointMap node of each camera.

The point map is computed directly from the camera’s DisparityMap, using the cameras Calibration data.

Note

The point coordinates are automatically transformed into world/workspace coordinates.