HALCON Reference Manual 10.0.2
Name
intersect_lines_of_sightT_intersect_lines_of_sightintersect_lines_of_sightIntersectLinesOfSightIntersectLinesOfSight — Get a 3D point from the intersection of two lines of sight
within a binocular camera system.
Herror T_intersect_lines_of_sight(const Htuple CamParam1, const Htuple CamParam2, const Htuple RelPose, const Htuple Row1, const Htuple Col1, const Htuple Row2, const Htuple Col2, Htuple* X, Htuple* Y, Htuple* Z, Htuple* Dist)
Herror intersect_lines_of_sight(const HTuple& CamParam1, const HTuple& CamParam2, const HTuple& RelPose, const HTuple& Row1, const HTuple& Col1, const HTuple& Row2, const HTuple& Col2, double* X, double* Y, double* Z, double* Dist)
Herror intersect_lines_of_sight(const HTuple& CamParam1, const HTuple& CamParam2, const HTuple& RelPose, const HTuple& Row1, const HTuple& Col1, const HTuple& Row2, const HTuple& Col2, HTuple* X, HTuple* Y, HTuple* Z, HTuple* Dist)
void HOperatorSetX.IntersectLinesOfSight(
[in] VARIANT CamParam1, [in] VARIANT CamParam2, [in] VARIANT RelPose, [in] VARIANT Row1, [in] VARIANT Col1, [in] VARIANT Row2, [in] VARIANT Col2, [out] VARIANT* X, [out] VARIANT* Y, [out] VARIANT* Z, [out] VARIANT* Dist)
VARIANT HMiscX.IntersectLinesOfSight(
[in] VARIANT CamParam1, [in] VARIANT CamParam2, [in] VARIANT RelPose, [in] VARIANT Row1, [in] VARIANT Col1, [in] VARIANT Row2, [in] VARIANT Col2, [out] VARIANT* Y, [out] VARIANT* Z, [out] VARIANT* Dist)
static void HOperatorSet.IntersectLinesOfSight(HTuple camParam1, HTuple camParam2, HTuple relPose, HTuple row1, HTuple col1, HTuple row2, HTuple col2, out HTuple x, out HTuple y, out HTuple z, out HTuple dist)
static void HMisc.IntersectLinesOfSight(HTuple camParam1, HTuple camParam2, HPose relPose, HTuple row1, HTuple col1, HTuple row2, HTuple col2, out HTuple x, out HTuple y, out HTuple z, out HTuple dist)
static void HMisc.IntersectLinesOfSight(HTuple camParam1, HTuple camParam2, HPose relPose, double row1, double col1, double row2, double col2, out double x, out double y, out double z, out double dist)
Given two lines of sight from different cameras, specified by their
image points (Row1Row1Row1Row1row1,Col1Col1Col1Col1col1) of camera 1 and
(Row2Row2Row2Row2row2,Col2Col2Col2Col2col2) of camera 2,
intersect_lines_of_sightintersect_lines_of_sightintersect_lines_of_sightIntersectLinesOfSightIntersectLinesOfSight computes the 3D
point of intersection of these lines. The binocular camera system is
specified by its internal camera parameters CamParam1CamParam1CamParam1CamParam1camParam1 of the
projective camera 1 and CamParam2CamParam2CamParam2CamParam2camParam2 of the projective camera 2, and
the external
parameters RelPoseRelPoseRelPoseRelPoserelPose defining the pose of the cameras by a point
transformation from camera 2 to camera 1. These camera parameters can be
obtained, e.g., from
the operator calibrate_camerascalibrate_camerascalibrate_camerasCalibrateCamerasCalibrateCameras, if the coordinates of the image
points (Row1Row1Row1Row1row1,Col1Col1Col1Col1col1) and (Row2Row2Row2Row2row2,Col2Col2Col2Col2col2)
refer to the respective original image coordinate system. In case of
rectified image coordinates ( e.g., obtained from rectified images),
the rectified camera parameters must be passed, as they are returned
by the operator
gen_binocular_rectification_mapgen_binocular_rectification_mapgen_binocular_rectification_mapGenBinocularRectificationMapGenBinocularRectificationMap. The 'point of
intersection' is defined by the point with the shortest distance to
both lines of sight. This point is returned in Cartesian coordinates
(XXXXx,YYYYy,ZZZZz) of camera system 1 and its
distance to the lines of sight is passed in DistDistDistDistdist.
- Multithreading type: reentrant (runs in parallel with non-exclusive operators).
- Multithreading scope: global (may be called from any thread).
- Processed without parallelization.
Internal parameters of the projective camera 1.
Number of elements: (CamParam1 == 8) || (CamParam1 == 12)
Internal parameters of the projective camera 2.
Number of elements: (CamParam2 == 8) || (CamParam2 == 12)
Point transformation from camera 2 to camera 1.
Number of elements: 7
Row1Row1Row1Row1row1 (input_control) number(-array) → HTupleHTupleVARIANTHtuple (real / integer) (double / int / long) (double / Hlong) (double / Hlong) (double / Hlong)
Row coordinate of a point in image 1.
Col1Col1Col1Col1col1 (input_control) number(-array) → HTupleHTupleVARIANTHtuple (real / integer) (double / int / long) (double / Hlong) (double / Hlong) (double / Hlong)
Column coordinate of a point in image 1.
Row2Row2Row2Row2row2 (input_control) number(-array) → HTupleHTupleVARIANTHtuple (real / integer) (double / int / long) (double / Hlong) (double / Hlong) (double / Hlong)
Row coordinate of the corresponding point in image 2.
Col2Col2Col2Col2col2 (input_control) number(-array) → HTupleHTupleVARIANTHtuple (real / integer) (double / int / long) (double / Hlong) (double / Hlong) (double / Hlong)
Column coordinate of the corresponding point in image 2.
XXXXx (output_control) real(-array) → HTupleHTupleVARIANTHtuple (real) (double) (double) (double) (double)
X coordinate of the 3D point.
YYYYy (output_control) real(-array) → HTupleHTupleVARIANTHtuple (real) (double) (double) (double) (double)
Y coordinate of the 3D point.
ZZZZz (output_control) real(-array) → HTupleHTupleVARIANTHtuple (real) (double) (double) (double) (double)
Z coordinate of the 3D point.
Distance of the 3D point to the lines of sight.
intersect_lines_of_sightintersect_lines_of_sightintersect_lines_of_sightIntersectLinesOfSightIntersectLinesOfSight returns 2 (H_MSG_TRUE) if all parameter values
are correct. If necessary, an exception is raised.
binocular_calibrationbinocular_calibrationbinocular_calibrationBinocularCalibrationBinocularCalibration
disparity_to_point_3ddisparity_to_point_3ddisparity_to_point_3dDisparityToPoint3dDisparityToPoint3d
3D Metrology
| HALCON Reference Manual 10.0.2 |
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