HALCON Reference Manual 10.0.2
Table of Contents / 3D Reconstruction / Binocular Stereo ClassesClassesClasses | | | Operators

distance_to_disparityT_distance_to_disparitydistance_to_disparityDistanceToDisparityDistanceToDisparity (Operator)

Name

distance_to_disparityT_distance_to_disparitydistance_to_disparityDistanceToDisparityDistanceToDisparity — Transfrom a distance value into a disparity in a rectified stereo system.

Signature

distance_to_disparity( : : CamParamRect1, CamParamRect2, RelPoseRect, Distance : Disparity)

Herror T_distance_to_disparity(const Htuple CamParamRect1, const Htuple CamParamRect2, const Htuple RelPoseRect, const Htuple Distance, Htuple* Disparity)

Herror distance_to_disparity(const HTuple& CamParamRect1, const HTuple& CamParamRect2, const HTuple& RelPoseRect, const HTuple& Distance, double* Disparity)

Herror distance_to_disparity(const HTuple& CamParamRect1, const HTuple& CamParamRect2, const HTuple& RelPoseRect, const HTuple& Distance, HTuple* Disparity)

void HOperatorSetX.DistanceToDisparity(
[in] VARIANT CamParamRect1, [in] VARIANT CamParamRect2, [in] VARIANT RelPoseRect, [in] VARIANT Distance, [out] VARIANT* Disparity)

VARIANT HPoseX.DistanceToDisparity(
[in] VARIANT CamParamRect1, [in] VARIANT CamParamRect2, [in] VARIANT RelPoseRect, [in] VARIANT Distance)

static void HOperatorSet.DistanceToDisparity(HTuple camParamRect1, HTuple camParamRect2, HTuple relPoseRect, HTuple distance, out HTuple disparity)

HTuple HPose.DistanceToDisparity(HTuple camParamRect1, HTuple camParamRect2, HTuple distance)

double HPose.DistanceToDisparity(HTuple camParamRect1, HTuple camParamRect2, double distance)

Description

distance_to_disparitydistance_to_disparitydistance_to_disparityDistanceToDisparityDistanceToDisparity transforms a distance of a 3D point to the binocular stereo system into a disparity value. The cameras of this system must be rectified and are defined by the rectified internal parameters CamParamRect1CamParamRect1CamParamRect1CamParamRect1camParamRect1 of the projective camera 1 and CamParamRect2CamParamRect2CamParamRect2CamParamRect2camParamRect2 of the projective camera 2 and the external parameters RelPoseRectRelPoseRectRelPoseRectRelPoseRectrelPoseRect. latter specifies the relative pose of both camera systems to each other by defining a point transformation from the rectified camera system 2 to the rectified camera system 1. These parameters can be obtained from the operator calibrate_camerascalibrate_camerascalibrate_camerasCalibrateCamerasCalibrateCameras and gen_binocular_rectification_mapgen_binocular_rectification_mapgen_binocular_rectification_mapGenBinocularRectificationMapGenBinocularRectificationMap. The distance value is passed in DistanceDistanceDistanceDistancedistance and the resulting disparity value DisparityDisparityDisparityDisparitydisparity is defined by the column difference of the image coordinates of two corresponding features on an epipolar line according to the equation d = c2 - c1 .

Parallelization

Parameters

CamParamRect1CamParamRect1CamParamRect1CamParamRect1camParamRect1 (input_control)  number-array → HTupleHTupleVARIANTHtuple (real / integer) (double / int / long) (double / Hlong) (double / Hlong) (double / Hlong)

rectified internal camera parameters of the projective camera 1.

Number of elements: (CamParamRect1 == 8) || (CamParamRect1 == 12)

CamParamRect2CamParamRect2CamParamRect2CamParamRect2camParamRect2 (input_control)  number-array → HTupleHTupleVARIANTHtuple (real / integer) (double / int / long) (double / Hlong) (double / Hlong) (double / Hlong)

rectified internal camera parameters of the projective camera 2.

Number of elements: (CamParamRect2 == 8) || (CamParamRect2 == 12)

RelPoseRectRelPoseRectRelPoseRectRelPoseRectrelPoseRect (input_control)  pose-array → HPose, HTupleHTupleHPoseX, VARIANTHtuple (real / integer) (double / int / long) (double / Hlong) (double / Hlong) (double / Hlong)

Point transformation from rectified camera 2 to rectified camera 1.

Number of elements: 7

DistanceDistanceDistanceDistancedistance (input_control)  real(-array) → HTupleHTupleVARIANTHtuple (real) (double) (double) (double) (double)

Distance of a world point to camera 1.

Restriction: 0 < Distance

DisparityDisparityDisparityDisparitydisparity (output_control)  number(-array) → HTupleHTupleVARIANTHtuple (real / integer) (double / int / long) (double / Hlong) (double / Hlong) (double / Hlong)

Disparity between the images of the point.

Result

distance_to_disparitydistance_to_disparitydistance_to_disparityDistanceToDisparityDistanceToDisparity returns 2 (H_MSG_TRUE) if all parameter values are correct. If necessary, an exception is raised.

Possible Predecessors

binocular_calibrationbinocular_calibrationbinocular_calibrationBinocularCalibrationBinocularCalibration, gen_binocular_rectification_mapgen_binocular_rectification_mapgen_binocular_rectification_mapGenBinocularRectificationMapGenBinocularRectificationMap

Possible Successors

binocular_disparitybinocular_disparitybinocular_disparityBinocularDisparityBinocularDisparity

Module

3D Metrology

Table of Contents / 3D Reconstruction / Binocular Stereo ClassesClassesClasses | | | Operators
HALCON Reference Manual 10.0.2 Copyright © 1996-2011 MVTec Software GmbH