Name
binocular_distance_mgT_binocular_distance_mgBinocularDistanceMgbinocular_distance_mgBinocularDistanceMgBinocularDistanceMg — Compute the distance values for a rectified stereo image pair using
multigrid methods.
binocular_distance_mg(ImageRect1, ImageRect2 : Distance, Score : CamParamRect1, CamParamRect2, RelPoseRect, GrayConstancy, GradientConstancy, Smoothness, InitialGuess, CalculateScore, MGParamName, MGParamValue : )
Herror T_binocular_distance_mg(const Hobject ImageRect1, const Hobject ImageRect2, Hobject* Distance, Hobject* Score, const Htuple CamParamRect1, const Htuple CamParamRect2, const Htuple RelPoseRect, const Htuple GrayConstancy, const Htuple GradientConstancy, const Htuple Smoothness, const Htuple InitialGuess, const Htuple CalculateScore, const Htuple MGParamName, const Htuple MGParamValue)
Herror binocular_distance_mg(Hobject ImageRect1, Hobject ImageRect2, Hobject* Distance, Hobject* Score, const HTuple& CamParamRect1, const HTuple& CamParamRect2, const HTuple& RelPoseRect, const HTuple& GrayConstancy, const HTuple& GradientConstancy, const HTuple& Smoothness, const HTuple& InitialGuess, const HTuple& CalculateScore, const HTuple& MGParamName, const HTuple& MGParamValue)
HImage HImage::BinocularDistanceMg(const HImage& ImageRect2, HImage* Score, const HTuple& CamParamRect1, const HTuple& CamParamRect2, const HTuple& RelPoseRect, const HTuple& GrayConstancy, const HTuple& GradientConstancy, const HTuple& Smoothness, const HTuple& InitialGuess, const HTuple& CalculateScore, const HTuple& MGParamName, const HTuple& MGParamValue) const
HImageArray HImageArray::BinocularDistanceMg(const HImageArray& ImageRect2, HImageArray* Score, const HTuple& CamParamRect1, const HTuple& CamParamRect2, const HTuple& RelPoseRect, const HTuple& GrayConstancy, const HTuple& GradientConstancy, const HTuple& Smoothness, const HTuple& InitialGuess, const HTuple& CalculateScore, const HTuple& MGParamName, const HTuple& MGParamValue) const
void BinocularDistanceMg(const HObject& ImageRect1, const HObject& ImageRect2, HObject* Distance, HObject* Score, const HTuple& CamParamRect1, const HTuple& CamParamRect2, const HTuple& RelPoseRect, const HTuple& GrayConstancy, const HTuple& GradientConstancy, const HTuple& Smoothness, const HTuple& InitialGuess, const HTuple& CalculateScore, const HTuple& MGParamName, const HTuple& MGParamValue)
HImage HImage::BinocularDistanceMg(const HImage& ImageRect2, HImage* Score, const HCamPar& CamParamRect1, const HCamPar& CamParamRect2, const HPose& RelPoseRect, double GrayConstancy, double GradientConstancy, double Smoothness, double InitialGuess, const HString& CalculateScore, const HTuple& MGParamName, const HTuple& MGParamValue) const
HImage HImage::BinocularDistanceMg(const HImage& ImageRect2, HImage* Score, const HCamPar& CamParamRect1, const HCamPar& CamParamRect2, const HPose& RelPoseRect, double GrayConstancy, double GradientConstancy, double Smoothness, double InitialGuess, const HString& CalculateScore, const HString& MGParamName, const HString& MGParamValue) const
HImage HImage::BinocularDistanceMg(const HImage& ImageRect2, HImage* Score, const HCamPar& CamParamRect1, const HCamPar& CamParamRect2, const HPose& RelPoseRect, double GrayConstancy, double GradientConstancy, double Smoothness, double InitialGuess, const char* CalculateScore, const char* MGParamName, const char* MGParamValue) const
HImage HCamPar::BinocularDistanceMg(const HImage& ImageRect1, const HImage& ImageRect2, HImage* Score, const HCamPar& CamParamRect2, const HPose& RelPoseRect, double GrayConstancy, double GradientConstancy, double Smoothness, double InitialGuess, const HString& CalculateScore, const HTuple& MGParamName, const HTuple& MGParamValue) const
HImage HCamPar::BinocularDistanceMg(const HImage& ImageRect1, const HImage& ImageRect2, HImage* Score, const HCamPar& CamParamRect2, const HPose& RelPoseRect, double GrayConstancy, double GradientConstancy, double Smoothness, double InitialGuess, const HString& CalculateScore, const HString& MGParamName, const HString& MGParamValue) const
HImage HCamPar::BinocularDistanceMg(const HImage& ImageRect1, const HImage& ImageRect2, HImage* Score, const HCamPar& CamParamRect2, const HPose& RelPoseRect, double GrayConstancy, double GradientConstancy, double Smoothness, double InitialGuess, const char* CalculateScore, const char* MGParamName, const char* MGParamValue) const
HImage HPose::BinocularDistanceMg(const HImage& ImageRect1, const HImage& ImageRect2, HImage* Score, const HCamPar& CamParamRect1, const HCamPar& CamParamRect2, double GrayConstancy, double GradientConstancy, double Smoothness, double InitialGuess, const HString& CalculateScore, const HTuple& MGParamName, const HTuple& MGParamValue) const
HImage HPose::BinocularDistanceMg(const HImage& ImageRect1, const HImage& ImageRect2, HImage* Score, const HCamPar& CamParamRect1, const HCamPar& CamParamRect2, double GrayConstancy, double GradientConstancy, double Smoothness, double InitialGuess, const HString& CalculateScore, const HString& MGParamName, const HString& MGParamValue) const
HImage HPose::BinocularDistanceMg(const HImage& ImageRect1, const HImage& ImageRect2, HImage* Score, const HCamPar& CamParamRect1, const HCamPar& CamParamRect2, double GrayConstancy, double GradientConstancy, double Smoothness, double InitialGuess, const char* CalculateScore, const char* MGParamName, const char* MGParamValue) const
void HOperatorSetX.BinocularDistanceMg(
[in] IHUntypedObjectX* ImageRect1, [in] IHUntypedObjectX* ImageRect2, [out] IHUntypedObjectX** Distance, [out] IHUntypedObjectX** Score, [in] VARIANT CamParamRect1, [in] VARIANT CamParamRect2, [in] VARIANT RelPoseRect, [in] VARIANT GrayConstancy, [in] VARIANT GradientConstancy, [in] VARIANT Smoothness, [in] VARIANT InitialGuess, [in] VARIANT CalculateScore, [in] VARIANT MGParamName, [in] VARIANT MGParamValue)
IHImageX* HImageX.BinocularDistanceMg(
[in] IHImageX* ImageRect2, [out] IHImageX** Score, [in] VARIANT CamParamRect1, [in] VARIANT CamParamRect2, [in] VARIANT RelPoseRect, [in] double GrayConstancy, [in] double GradientConstancy, [in] double Smoothness, [in] double InitialGuess, [in] BSTR CalculateScore, [in] VARIANT MGParamName, [in] VARIANT MGParamValue)
IHImageX* HCamParX.BinocularDistanceMg(
[in] IHImageX* ImageRect1, [in] IHImageX* ImageRect2, [out] IHImageX** Score, [in] VARIANT CamParamRect1, [in] VARIANT CamParamRect2, [in] VARIANT RelPoseRect, [in] double GrayConstancy, [in] double GradientConstancy, [in] double Smoothness, [in] double InitialGuess, [in] BSTR CalculateScore, [in] VARIANT MGParamName, [in] VARIANT MGParamValue)
IHImageX* HPoseX.BinocularDistanceMg(
[in] IHImageX* ImageRect1, [in] IHImageX* ImageRect2, [out] IHImageX** Score, [in] VARIANT CamParamRect1, [in] VARIANT CamParamRect2, [in] VARIANT RelPoseRect, [in] double GrayConstancy, [in] double GradientConstancy, [in] double Smoothness, [in] double InitialGuess, [in] BSTR CalculateScore, [in] VARIANT MGParamName, [in] VARIANT MGParamValue)
static void HOperatorSet.BinocularDistanceMg(HObject imageRect1, HObject imageRect2, out HObject distance, out HObject score, HTuple camParamRect1, HTuple camParamRect2, HTuple relPoseRect, HTuple grayConstancy, HTuple gradientConstancy, HTuple smoothness, HTuple initialGuess, HTuple calculateScore, HTuple MGParamName, HTuple MGParamValue)
HImage HImage.BinocularDistanceMg(HImage imageRect2, out HImage score, HCamPar camParamRect1, HCamPar camParamRect2, HPose relPoseRect, double grayConstancy, double gradientConstancy, double smoothness, double initialGuess, string calculateScore, HTuple MGParamName, HTuple MGParamValue)
HImage HImage.BinocularDistanceMg(HImage imageRect2, out HImage score, HCamPar camParamRect1, HCamPar camParamRect2, HPose relPoseRect, double grayConstancy, double gradientConstancy, double smoothness, double initialGuess, string calculateScore, string MGParamName, string MGParamValue)
HImage HCamPar.BinocularDistanceMg(HImage imageRect1, HImage imageRect2, out HImage score, HCamPar camParamRect2, HPose relPoseRect, double grayConstancy, double gradientConstancy, double smoothness, double initialGuess, string calculateScore, HTuple MGParamName, HTuple MGParamValue)
HImage HCamPar.BinocularDistanceMg(HImage imageRect1, HImage imageRect2, out HImage score, HCamPar camParamRect2, HPose relPoseRect, double grayConstancy, double gradientConstancy, double smoothness, double initialGuess, string calculateScore, string MGParamName, string MGParamValue)
HImage HPose.BinocularDistanceMg(HImage imageRect1, HImage imageRect2, out HImage score, HCamPar camParamRect1, HCamPar camParamRect2, double grayConstancy, double gradientConstancy, double smoothness, double initialGuess, string calculateScore, HTuple MGParamName, HTuple MGParamValue)
HImage HPose.BinocularDistanceMg(HImage imageRect1, HImage imageRect2, out HImage score, HCamPar camParamRect1, HCamPar camParamRect2, double grayConstancy, double gradientConstancy, double smoothness, double initialGuess, string calculateScore, string MGParamName, string MGParamValue)
binocular_distance_mgbinocular_distance_mgBinocularDistanceMgbinocular_distance_mgBinocularDistanceMgBinocularDistanceMg computes the distance values for a
rectified stereo image pair using multigrid methods. The operator
first calculates the disparities between two rectified images
ImageRect1ImageRect1ImageRect1ImageRect1ImageRect1imageRect1 and ImageRect2ImageRect2ImageRect2ImageRect2ImageRect2imageRect2 similar to
binocular_disparity_mgbinocular_disparity_mgBinocularDisparityMgbinocular_disparity_mgBinocularDisparityMgBinocularDisparityMg. 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. Different from binocular_distancebinocular_distanceBinocularDistancebinocular_distanceBinocularDistanceBinocularDistance
this operator uses a variational approach based on multigrid
methods. This approach returns distance values also for image parts
that contain no texture.
The input images ImageRect1ImageRect1ImageRect1ImageRect1ImageRect1imageRect1 and ImageRect2ImageRect2ImageRect2ImageRect2ImageRect2imageRect2 must be
a pair of rectified stereo images, i.e., corresponding points must
have the same row coordinate. In case 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 algorithm and of the remaining
parameters can be found in the documentation of
binocular_disparity_mgbinocular_disparity_mgBinocularDisparityMgbinocular_disparity_mgBinocularDisparityMgBinocularDisparityMg.
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).
For a stereo setup of mixed type (i.e., for a stereo setup in which
one of the original cameras is a perspective camera and the other
camera is a telecentric camera; see
gen_binocular_rectification_mapgen_binocular_rectification_mapGenBinocularRectificationMapgen_binocular_rectification_mapGenBinocularRectificationMapGenBinocularRectificationMap), the rectifying plane of
the two cameras is in a position with respect to the object that
would lead to very unintuitive distances. Therefore,
binocular_distance_mgbinocular_distance_mgBinocularDistanceMgbinocular_distance_mgBinocularDistanceMgBinocularDistanceMg does not support a stereo setup of
mixed type. For stereo setups of mixed type, please use
reconstruct_surface_stereoreconstruct_surface_stereoReconstructSurfaceStereoreconstruct_surface_stereoReconstructSurfaceStereoReconstructSurfaceStereo, in which the reference
coordinate system can be chosen arbitrarily. Alternatively,
binocular_disparity_mgbinocular_disparity_mgBinocularDisparityMgbinocular_disparity_mgBinocularDisparityMgBinocularDisparityMg and disparity_image_to_xyzdisparity_image_to_xyzDisparityImageToXyzdisparity_image_to_xyzDisparityImageToXyzDisparityImageToXyz
might be used.
- 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.
Internal camera parameters of the rectified camera 1.
Internal camera parameters of the rectified camera 2.
Point transformation from the rectified camera 2 to
the rectified camera 1.
Number of elements: 7
Weight of the gray value constancy in the data term.
Default value: 1.0
Suggested values: 0.0, 1.0, 2.0, 10.0
Restriction: GrayConstancy >= 0.0
Weight of the gradient constancy in the data term.
Default value: 30.0
Suggested values: 0.0, 1.0, 5.0, 10.0, 30.0, 50.0, 70.0
Restriction: GradientConstancy >= 0.0
Weight of the smoothness term in relation to the
data term.
Default value: 5.0
Suggested values: 1.0, 3.0, 5.0, 10.0
Restriction: Smoothness > 0.0
Initial guess of the disparity.
Default value: 0.0
Suggested values: -30.0, -20.0, -10.0, 0.0, 10.0, 20.0, 30.0
Should the quality measure be returned in
ScoreScoreScoreScoreScorescore?
Default value:
'false'
"false"
"false"
"false"
"false"
"false"
Suggested values: 'true'"true""true""true""true""true", 'false'"false""false""false""false""false"
Parameter name(s) for the multigrid algorithm.
Default value:
'default_parameters'
"default_parameters"
"default_parameters"
"default_parameters"
"default_parameters"
"default_parameters"
List of values: 'default_parameters'"default_parameters""default_parameters""default_parameters""default_parameters""default_parameters", 'initial_level'"initial_level""initial_level""initial_level""initial_level""initial_level", 'iterations'"iterations""iterations""iterations""iterations""iterations", 'mg_cycle_type'"mg_cycle_type""mg_cycle_type""mg_cycle_type""mg_cycle_type""mg_cycle_type", 'mg_post_relax'"mg_post_relax""mg_post_relax""mg_post_relax""mg_post_relax""mg_post_relax", 'mg_pre_relax'"mg_pre_relax""mg_pre_relax""mg_pre_relax""mg_pre_relax""mg_pre_relax", 'mg_solver'"mg_solver""mg_solver""mg_solver""mg_solver""mg_solver", 'pyramid_factor'"pyramid_factor""pyramid_factor""pyramid_factor""pyramid_factor""pyramid_factor"
Parameter value(s) for the multigrid algorithm.
Default value:
'fast_accurate'
"fast_accurate"
"fast_accurate"
"fast_accurate"
"fast_accurate"
"fast_accurate"
Suggested values: 'very_accurate'"very_accurate""very_accurate""very_accurate""very_accurate""very_accurate", 'accurate'"accurate""accurate""accurate""accurate""accurate", 'fast_accurate'"fast_accurate""fast_accurate""fast_accurate""fast_accurate""fast_accurate", 'fast'"fast""fast""fast""fast""fast", 'v'"v""v""v""v""v", 'w'"w""w""w""w""w", 'none'"none""none""none""none""none", 'gauss_seidel'"gauss_seidel""gauss_seidel""gauss_seidel""gauss_seidel""gauss_seidel", 'multigrid'"multigrid""multigrid""multigrid""multigrid""multigrid", 'full_multigrid'"full_multigrid""full_multigrid""full_multigrid""full_multigrid""full_multigrid", 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 0.1, 0.2, 0.3, 0.4, 0.5, 0.6, 0.7, 0.8, 0.9, -1, -2, -3, -4, -5
If the parameter values are correct, binocular_distance_mgbinocular_distance_mgBinocularDistanceMgbinocular_distance_mgBinocularDistanceMgBinocularDistanceMg
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_msbinocular_distance_msBinocularDistanceMsbinocular_distance_msBinocularDistanceMsBinocularDistanceMs,
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