Name
disparity_image_to_xyzT_disparity_image_to_xyzDisparityImageToXyzdisparity_image_to_xyzDisparityImageToXyzDisparityImageToXyz — Transform a disparity image into 3D points in a rectified stereo system.
void DisparityImageToXyz(const HObject& Disparity, HObject* X, HObject* Y, HObject* Z, const HTuple& CamParamRect1, const HTuple& CamParamRect2, const HTuple& RelPoseRect)
HImage HPose::DisparityImageToXyz(const HImage& Disparity, HImage* Y, HImage* Z, const HTuple& CamParamRect1, const HTuple& CamParamRect2) const
void HOperatorSetX.DisparityImageToXyz(
[in] IHUntypedObjectX* Disparity, [out] IHUntypedObjectX** X, [out] IHUntypedObjectX** Y, [out] IHUntypedObjectX** Z, [in] VARIANT CamParamRect1, [in] VARIANT CamParamRect2, [in] VARIANT RelPoseRect)
IHImageX* HPoseX.DisparityImageToXyz(
[in] IHImageX* Disparity, [out] IHImageX** Y, [out] IHImageX** Z, [in] VARIANT CamParamRect1, [in] VARIANT CamParamRect2, [in] VARIANT RelPoseRect)
static void HOperatorSet.DisparityImageToXyz(HObject disparity, out HObject x, out HObject y, out HObject z, HTuple camParamRect1, HTuple camParamRect2, HTuple relPoseRect)
HImage HPose.DisparityImageToXyz(HImage disparity, out HImage y, out HImage z, HTuple camParamRect1, HTuple camParamRect2)
Given the disparity image DisparityDisparityDisparityDisparityDisparitydisparity of a rectified binocular stereo
system, disparity_image_to_xyzdisparity_image_to_xyzDisparityImageToXyzdisparity_image_to_xyzDisparityImageToXyzDisparityImageToXyz computes the corresponding 3D
points. Their coordinates relative to the rectified camera 1 are stored as
gray values in the images XXXXXx, YYYYYy, and ZZZZZz, i.e., the
pixels at the position (Row,Column) in XXXXXx, YYYYYy, and ZZZZZz
contain the x, y, and z coordinate, respectively, of the pixel (Row,Column) in
the disparity image.
The rectified binocular camera system is specified by its
internal camera parameters CamParamRect1CamParamRect1CamParamRect1CamParamRect1CamParamRect1camParamRect1 of the rectified
camera 1 and CamParamRect2CamParamRect2CamParamRect2CamParamRect2CamParamRect2camParamRect2 of the rectified camera 2, and
the external parameters RelPoseRectRelPoseRectRelPoseRectRelPoseRectRelPoseRectrelPoseRect defining the pose of
the rectified camera 2 in relation to the rectified camera 1. These
camera parameters can be obtained from the operators
calibrate_camerascalibrate_camerasCalibrateCamerascalibrate_camerasCalibrateCamerasCalibrateCameras and
gen_binocular_rectification_mapgen_binocular_rectification_mapGenBinocularRectificationMapgen_binocular_rectification_mapGenBinocularRectificationMapGenBinocularRectificationMap. Focus and scale factor of
the rectified camera system 1 and 2 must be equal.
- 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 domain level.
X coordinates of the points in the rectified camera
system 1.
Y coordinates of the points in the rectified camera
system 1.
Z coordinates of the points in the rectified camera
system 1.
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
Pose of the rectified camera 2 in relation to the
rectified camera 1.
Number of elements: 7
disparity_image_to_xyz (ImageDisparity, ImgX, ImgY, ImgZ, RectCamParL, \
RectCamParR, RectLPosRectR)
get_region_points (ImageDisparity, Rows, Columns)
get_grayval (ImgX, Rows, Columns, XValues)
get_grayval (ImgY, Rows, Columns, YValues)
get_grayval (ImgZ, Rows, Columns, ZValues)
The operator disparity_image_to_xyzdisparity_image_to_xyzDisparityImageToXyzdisparity_image_to_xyzDisparityImageToXyzDisparityImageToXyz returns the value 2 (H_MSG_TRUE)
if the input is not empty.
The behavior in case of empty input (no input image available) is
set via the operator 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>).
The behavior in case of empty region (the region is the empty set) is set via
set_system('empty_region_result',<Result>)set_system("empty_region_result",<Result>)SetSystem("empty_region_result",<Result>)set_system("empty_region_result",<Result>)SetSystem("empty_region_result",<Result>)SetSystem("empty_region_result",<Result>).
If necessary an exception is raised.
binocular_disparitybinocular_disparityBinocularDisparitybinocular_disparityBinocularDisparityBinocularDisparity
thresholdthresholdThresholdthresholdThresholdThreshold,
write_imagewrite_imageWriteImagewrite_imageWriteImageWriteImage
disparity_to_point_3ddisparity_to_point_3dDisparityToPoint3ddisparity_to_point_3dDisparityToPoint3dDisparityToPoint3d,
binocular_distancebinocular_distanceBinocularDistancebinocular_distanceBinocularDistanceBinocularDistance
binocular_calibrationbinocular_calibrationBinocularCalibrationbinocular_calibrationBinocularCalibrationBinocularCalibration,
gen_binocular_rectification_mapgen_binocular_rectification_mapGenBinocularRectificationMapgen_binocular_rectification_mapGenBinocularRectificationMapGenBinocularRectificationMap,
intersect_lines_of_sightintersect_lines_of_sightIntersectLinesOfSightintersect_lines_of_sightIntersectLinesOfSightIntersectLinesOfSight
3D Metrology