Locate specific pixel from left and right view on the disparity map
Hi everyone.
I have performed camera calibration and image rectification, and was able to obtain a pretty good and stable disparity map.
For my project, I need to locate specific pixels from the left and right view in the disparity map.
So I am using a chessboard, through which thanks to the openCV function FindChessboardCorners I am able to locate the pixel coordinates (X, Y) of each corner in both the left and right view.
Now, let's say out of all those corners I select only one. I do have the pixel coordinates of that corner for both the left and right view, but how do I find its X and Y PIXEL COORDINATES on the corresponding disparity map? I would be able to find the pixel depth, but I need to track that specific pixel on the disparity map so I need Pixel coordinates and not real world coordinates.
I am a bit confused and can't really understand how to do it. Any help would be greatly appreciated.
Thank you!
For a pixel from the left camera
PL(X,Y)the corresponding pixel in the disparity map has the same coordinatesPD(X,Y). The position of the corresponding pixel in the right image isPR(X+dx,Y), wheredx=PD(X,Y).