[X] My Assistant

[helvick]

Just setting this up as a topic.

Rodolfo (RNeuhaus) has pointed out that he gets hard to interpret results when using Joe Knapp's online Parallax Calculator.

I don't know the formulas behind this calculator but have been trying to work out my own.

Taking (for now) that the geometries are as follows:
Pancam, 16deg FOV, 300mm separation between L and R and a 1deg toe in.
Navcam, 45deg FOV 200mm separation between L and R and no toe in.

Parallax formula - Distance to object=half the Camera Separation/Tan angle between the point in the L+R images. (I don't think this is 100% correct for parallel cameras but it should be good to a close first approximation provided things aren't too close).

Sticking with the Navcam which doesn't have any toe in my gut feel for things is that distant objects should be affected less by parallax. So taking Joe Knapps sample calculation for Navcam. Left Camera 512 pixels, right camera 500 pixels.
Separation is 12 pixels so the parallax angle is 12 * (45deg/1024pixels) = 0.527344 degrees.
The distance should then be (100mm/tan(0.527344 deg).
That gives me 108m.
Joe Knapps calculator gives me 20.3m.

The Pancam is a bit trickier because of the toe in angle, I need to think a bit more about whether my default assumption that it can be compensated for by simply subtracting 64 pixels from the right image position is valid or not.

Anyway - something is amiss in either my numbers or Joe Knapp's calculator. Anyone out there able to throw some light on this.

[djellison]

Then once you have a fairly populated array of values, you can generate a mesh......and put the image back on it...and bingo - the full on 3d navigable environment we've been dying for

Doug