Name
binocular_distance_msT_binocular_distance_msBinocularDistanceMsbinocular_distance_msBinocularDistanceMsBinocularDistanceMs — Compute the distance values for a rectified stereo image pair using
multi-scanline optimization.
binocular_distance_ms(ImageRect1, ImageRect2 : Distance, Score : CamParamRect1, CamParamRect2, RelPoseRect, MinDisparity, MaxDisparity, SurfaceSmoothing, EdgeSmoothing, GenParamName, GenParamValue : )
Herror T_binocular_distance_ms(const Hobject ImageRect1, const Hobject ImageRect2, Hobject* Distance, Hobject* Score, const Htuple CamParamRect1, const Htuple CamParamRect2, const Htuple RelPoseRect, const Htuple MinDisparity, const Htuple MaxDisparity, const Htuple SurfaceSmoothing, const Htuple EdgeSmoothing, const Htuple GenParamName, const Htuple GenParamValue)
Herror binocular_distance_ms(Hobject ImageRect1, Hobject ImageRect2, Hobject* Distance, Hobject* Score, const HTuple& CamParamRect1, const HTuple& CamParamRect2, const HTuple& RelPoseRect, const HTuple& MinDisparity, const HTuple& MaxDisparity, const HTuple& SurfaceSmoothing, const HTuple& EdgeSmoothing, const HTuple& GenParamName, const HTuple& GenParamValue)
HImage HImage::BinocularDistanceMs(const HImage& ImageRect2, HImage* Score, const HTuple& CamParamRect1, const HTuple& CamParamRect2, const HTuple& RelPoseRect, const HTuple& MinDisparity, const HTuple& MaxDisparity, const HTuple& SurfaceSmoothing, const HTuple& EdgeSmoothing, const HTuple& GenParamName, const HTuple& GenParamValue) const
void BinocularDistanceMs(const HObject& ImageRect1, const HObject& ImageRect2, HObject* Distance, HObject* Score, const HTuple& CamParamRect1, const HTuple& CamParamRect2, const HTuple& RelPoseRect, const HTuple& MinDisparity, const HTuple& MaxDisparity, const HTuple& SurfaceSmoothing, const HTuple& EdgeSmoothing, const HTuple& GenParamName, const HTuple& GenParamValue)
HImage HImage::BinocularDistanceMs(const HImage& ImageRect2, HImage* Score, const HTuple& CamParamRect1, const HTuple& CamParamRect2, const HPose& RelPoseRect, Hlong MinDisparity, Hlong MaxDisparity, Hlong SurfaceSmoothing, Hlong EdgeSmoothing, const HTuple& GenParamName, const HTuple& GenParamValue) const
HImage HImage::BinocularDistanceMs(const HImage& ImageRect2, HImage* Score, const HTuple& CamParamRect1, const HTuple& CamParamRect2, const HPose& RelPoseRect, Hlong MinDisparity, Hlong MaxDisparity, Hlong SurfaceSmoothing, Hlong EdgeSmoothing, const HString& GenParamName, const HString& GenParamValue) const
HImage HImage::BinocularDistanceMs(const HImage& ImageRect2, HImage* Score, const HTuple& CamParamRect1, const HTuple& CamParamRect2, const HPose& RelPoseRect, Hlong MinDisparity, Hlong MaxDisparity, Hlong SurfaceSmoothing, Hlong EdgeSmoothing, const char* GenParamName, const char* GenParamValue) const
HImage HPose::BinocularDistanceMs(const HImage& ImageRect1, const HImage& ImageRect2, HImage* Score, const HTuple& CamParamRect1, const HTuple& CamParamRect2, Hlong MinDisparity, Hlong MaxDisparity, Hlong SurfaceSmoothing, Hlong EdgeSmoothing, const HTuple& GenParamName, const HTuple& GenParamValue) const
HImage HPose::BinocularDistanceMs(const HImage& ImageRect1, const HImage& ImageRect2, HImage* Score, const HTuple& CamParamRect1, const HTuple& CamParamRect2, Hlong MinDisparity, Hlong MaxDisparity, Hlong SurfaceSmoothing, Hlong EdgeSmoothing, const HString& GenParamName, const HString& GenParamValue) const
HImage HPose::BinocularDistanceMs(const HImage& ImageRect1, const HImage& ImageRect2, HImage* Score, const HTuple& CamParamRect1, const HTuple& CamParamRect2, Hlong MinDisparity, Hlong MaxDisparity, Hlong SurfaceSmoothing, Hlong EdgeSmoothing, const char* GenParamName, const char* GenParamValue) const
void HOperatorSetX.BinocularDistanceMs(
[in] IHUntypedObjectX* ImageRect1, [in] IHUntypedObjectX* ImageRect2, [out] IHUntypedObjectX** Distance, [out] IHUntypedObjectX** Score, [in] VARIANT CamParamRect1, [in] VARIANT CamParamRect2, [in] VARIANT RelPoseRect, [in] VARIANT MinDisparity, [in] VARIANT MaxDisparity, [in] VARIANT SurfaceSmoothing, [in] VARIANT EdgeSmoothing, [in] VARIANT GenParamName, [in] VARIANT GenParamValue)
IHImageX* HImageX.BinocularDistanceMs(
[in] IHImageX* ImageRect2, [out] IHImageX** Score, [in] VARIANT CamParamRect1, [in] VARIANT CamParamRect2, [in] VARIANT RelPoseRect, [in] Hlong MinDisparity, [in] Hlong MaxDisparity, [in] Hlong SurfaceSmoothing, [in] Hlong EdgeSmoothing, [in] VARIANT GenParamName, [in] VARIANT GenParamValue)
IHImageX* HPoseX.BinocularDistanceMs(
[in] IHImageX* ImageRect1, [in] IHImageX* ImageRect2, [out] IHImageX** Score, [in] VARIANT CamParamRect1, [in] VARIANT CamParamRect2, [in] VARIANT RelPoseRect, [in] Hlong MinDisparity, [in] Hlong MaxDisparity, [in] Hlong SurfaceSmoothing, [in] Hlong EdgeSmoothing, [in] VARIANT GenParamName, [in] VARIANT GenParamValue)
static void HOperatorSet.BinocularDistanceMs(HObject imageRect1, HObject imageRect2, out HObject distance, out HObject score, HTuple camParamRect1, HTuple camParamRect2, HTuple relPoseRect, HTuple minDisparity, HTuple maxDisparity, HTuple surfaceSmoothing, HTuple edgeSmoothing, HTuple genParamName, HTuple genParamValue)
HImage HImage.BinocularDistanceMs(HImage imageRect2, out HImage score, HTuple camParamRect1, HTuple camParamRect2, HPose relPoseRect, int minDisparity, int maxDisparity, int surfaceSmoothing, int edgeSmoothing, HTuple genParamName, HTuple genParamValue)
HImage HImage.BinocularDistanceMs(HImage imageRect2, out HImage score, HTuple camParamRect1, HTuple camParamRect2, HPose relPoseRect, int minDisparity, int maxDisparity, int surfaceSmoothing, int edgeSmoothing, string genParamName, string genParamValue)
HImage HPose.BinocularDistanceMs(HImage imageRect1, HImage imageRect2, out HImage score, HTuple camParamRect1, HTuple camParamRect2, int minDisparity, int maxDisparity, int surfaceSmoothing, int edgeSmoothing, HTuple genParamName, HTuple genParamValue)
HImage HPose.BinocularDistanceMs(HImage imageRect1, HImage imageRect2, out HImage score, HTuple camParamRect1, HTuple camParamRect2, int minDisparity, int maxDisparity, int surfaceSmoothing, int edgeSmoothing, string genParamName, string genParamValue)
binocular_distance_msbinocular_distance_msBinocularDistanceMsbinocular_distance_msBinocularDistanceMsBinocularDistanceMs computes the distance values for a rectified
stereo image pair using multi-scanline optimization. The operator first
calculates the disparities between two rectified images ImageRect1ImageRect1ImageRect1ImageRect1ImageRect1imageRect1
and ImageRect2ImageRect2ImageRect2ImageRect2ImageRect2imageRect2 similar to binocular_disparity_msbinocular_disparity_msBinocularDisparityMsbinocular_disparity_msBinocularDisparityMsBinocularDisparityMs. The
resulting disparity values are then transformed into distance values of
the corresponding 3D world points to the rectified stereo camera system
as in disparity_to_distancedisparity_to_distanceDisparityToDistancedisparity_to_distanceDisparityToDistanceDisparityToDistance. The distances are returned in the
single-channel image DistanceDistanceDistanceDistanceDistancedistance in which each gray value represents
the distance of the respective 3D world point to the stereo camera system.
binocular_disparity_msbinocular_disparity_msBinocularDisparityMsbinocular_disparity_msBinocularDisparityMsBinocularDisparityMs requires a reference image
ImageRect1ImageRect1ImageRect1ImageRect1ImageRect1imageRect1 and a search image ImageRect2ImageRect2ImageRect2ImageRect2ImageRect2imageRect2 which both
must be rectified, i.e., corresponding pixels must have the same
row coordinate. If this assumption is violated, the images
can be rectified by using the operators calibrate_camerascalibrate_camerasCalibrateCamerascalibrate_camerasCalibrateCamerasCalibrateCameras,
gen_binocular_rectification_mapgen_binocular_rectification_mapGenBinocularRectificationMapgen_binocular_rectification_mapGenBinocularRectificationMapGenBinocularRectificationMap, and map_imagemap_imageMapImagemap_imageMapImageMapImage.
For the transformation of the disparity to the distance, the internal camera
parameters of the rectified camera 1 CamParamRect1CamParamRect1CamParamRect1CamParamRect1CamParamRect1camParamRect1 and of the
rectified camera 2 CamParamRect2CamParamRect2CamParamRect2CamParamRect2CamParamRect2camParamRect2, as well as the relative pose of
the cameras RelPoseRectRelPoseRectRelPoseRectRelPoseRectRelPoseRectrelPoseRect must be specified. The relative pose
defines a point transformation from the rectified camera system 2 to the
rectified camera system 1. These parameters can be obtained from the
operators calibrate_camerascalibrate_camerasCalibrateCamerascalibrate_camerasCalibrateCamerasCalibrateCameras and
gen_binocular_rectification_mapgen_binocular_rectification_mapGenBinocularRectificationMapgen_binocular_rectification_mapGenBinocularRectificationMapGenBinocularRectificationMap.
A detailed description of the remaining parameters can be found in the
documentation of binocular_disparity_msbinocular_disparity_msBinocularDisparityMsbinocular_disparity_msBinocularDisparityMsBinocularDisparityMs.
If using cameras with telecentric lenses, the DistanceDistanceDistanceDistanceDistancedistance is not
defined as the distance of a point to the camera but as the distance from
the point to the plane, defined by the y-axes of both cameras and their
baseline (see gen_binocular_rectification_mapgen_binocular_rectification_mapGenBinocularRectificationMapgen_binocular_rectification_mapGenBinocularRectificationMapGenBinocularRectificationMap).
- Supports OpenCL compute devices.
- Multithreading type: reentrant (runs in parallel with non-exclusive operators).
- Multithreading scope: global (may be called from any thread).
- Automatically parallelized on tuple level.
- Automatically parallelized on internal data level.
Rectified image of camera 1.
Rectified image of camera 2.
Score of the calculated disparity.
Internal camera parameters of the rectified
camera 1.
Number of elements: CamParamRect1 == 8 || CamParamRect1 == 12
Internal camera parameters of the rectified
camera 2.
Number of elements: CamParamRect2 == 8 || CamParamRect2 == 12
Point transformation from the rectified camera 2 to the
rectified camera 1.
Number of elements: 7
Minimum of the expected disparities.
Default value: -30
Typical range of values: -32768
≤
MinDisparity
MinDisparity
MinDisparity
MinDisparity
MinDisparity
minDisparity
≤
32767
Maximum of the expected disparities.
Default value: 30
Typical range of values: -32768
≤
MaxDisparity
MaxDisparity
MaxDisparity
MaxDisparity
MaxDisparity
maxDisparity
≤
32767
Restriction: MinDisparity <= MaxDisparity && MaxDisparity <= MinDisparity + 255
Smoothing of surfaces.
Default value: 50
Suggested values: 20, 50, 100
Restriction: SurfaceSmoothing >= 0
Smoothing of edges.
Default value: 50
Suggested values: 20, 50, 100
Restriction: EdgeSmoothing >= 0
Parameter name(s) for the multi-scanline algorithm.
Default value: []
List of values: 'consistency_check'"consistency_check""consistency_check""consistency_check""consistency_check""consistency_check", 'similarity_measure'"similarity_measure""similarity_measure""similarity_measure""similarity_measure""similarity_measure", 'sub_disparity'"sub_disparity""sub_disparity""sub_disparity""sub_disparity""sub_disparity"
Parameter value(s) for the multi-scanline algorithm.
Default value: []
Suggested values: 'census_dense'"census_dense""census_dense""census_dense""census_dense""census_dense", 'census_sparse'"census_sparse""census_sparse""census_sparse""census_sparse""census_sparse", 'true'"true""true""true""true""true", 'false'"false""false""false""false""false"
If the parameter values are correct, binocular_distance_msbinocular_distance_msBinocularDistanceMsbinocular_distance_msBinocularDistanceMsBinocularDistanceMs
returns the value 2 (H_MSG_TRUE). If the input is empty (no input images are
available) the behavior can be set via
set_system('no_object_result',<Result>)set_system("no_object_result",<Result>)SetSystem("no_object_result",<Result>)set_system("no_object_result",<Result>)SetSystem("no_object_result",<Result>)SetSystem("no_object_result",<Result>). If necessary, an
exception is raised.
map_imagemap_imageMapImagemap_imageMapImageMapImage
thresholdthresholdThresholdthresholdThresholdThreshold
binocular_distancebinocular_distanceBinocularDistancebinocular_distanceBinocularDistanceBinocularDistance,
binocular_distance_mgbinocular_distance_mgBinocularDistanceMgbinocular_distance_mgBinocularDistanceMgBinocularDistanceMg,
binocular_disparitybinocular_disparityBinocularDisparitybinocular_disparityBinocularDisparityBinocularDisparity,
binocular_disparity_mgbinocular_disparity_mgBinocularDisparityMgbinocular_disparity_mgBinocularDisparityMgBinocularDisparityMg,
binocular_disparity_msbinocular_disparity_msBinocularDisparityMsbinocular_disparity_msBinocularDisparityMsBinocularDisparityMs
map_imagemap_imageMapImagemap_imageMapImageMapImage,
gen_binocular_rectification_mapgen_binocular_rectification_mapGenBinocularRectificationMapgen_binocular_rectification_mapGenBinocularRectificationMapGenBinocularRectificationMap,
binocular_calibrationbinocular_calibrationBinocularCalibrationbinocular_calibrationBinocularCalibrationBinocularCalibration,
disparity_to_distancedisparity_to_distanceDisparityToDistancedisparity_to_distanceDisparityToDistanceDisparityToDistance,
distance_to_disparitydistance_to_disparityDistanceToDisparitydistance_to_disparityDistanceToDisparityDistanceToDisparity,
disparity_image_to_xyzdisparity_image_to_xyzDisparityImageToXyzdisparity_image_to_xyzDisparityImageToXyzDisparityImageToXyz
3D Metrology