Function lib3d::reprojectImagePointOntoPlane

Function Documentation

inline cv::Vec3d lib3d::reprojectImagePointOntoPlane(const cv::Matx33d iK, const cv::Vec2d &iImgPnt, const cv::Vec3d &iPlaneNormal, const float &iPlaneDistance)

Reproject image point onto scene plane with given parameters.

In detail, this correponds to computing a ray from the optical center of camera through the given image point and then intersecting this ray with the scene plane, yielding a 3D scene point.

Parameters:

  • iK – [in] Calibration matrix of the camera from which the pixel is to be reprojected.

  • iImgPnt – [in] Image point that is to be reprojected.

  • iPlaneNormal – [in] Normal vector of the scene plane.

  • iPlaneDistance – [in] Distance of the scene plane from the optical center of the camera.

Returns:

3D coordinates of reprojected point.