22 lines
737 B
Matlab
22 lines
737 B
Matlab
baseline = 60; %Distance between the cameras in millimeters
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focalLength = 6; %Focal length is measured in millimeters
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pixelSize = 0.006; %Pixel size is measured in millimeters per pixel
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%Define object of interest's centroid's offset from center of frame
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xLeftOffset = 15;
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yLeftOffset = 4;
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xRightOffset = -5;
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yRightOffset = 6;
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%Disparity: difference (in millimeters) in position in the 2 camera's frames
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disparity = (abs(xLeftOffset - xRightOffset)*pixelSize);
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%Z= depth coordinate (in millimeters) of the centroid of the object of interest
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Z=(baseline*focalLength)/disparity;
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%X and Y coordinates (in millimeters) can then be found
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X= (Z * xLeftOffset * pixelSize) / focalLength;
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Y= (Z * yLeftOffset * pixelSize) / focalLength;
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