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gen_binocular_rectification_mapT_gen_binocular_rectification_mapGenBinocularRectificationMapgen_binocular_rectification_mapGenBinocularRectificationMapGenBinocularRectificationMap (Operator)

Name

gen_binocular_rectification_mapT_gen_binocular_rectification_mapGenBinocularRectificationMapgen_binocular_rectification_mapGenBinocularRectificationMapGenBinocularRectificationMap — Generate transformation maps that describe the mapping of the images of a binocular camera pair to a common rectified image plane.

Signature

gen_binocular_rectification_map( : Map1, Map2 : CamParam1, CamParam2, RelPose, SubSampling, Method, MapType : CamParamRect1, CamParamRect2, CamPoseRect1, CamPoseRect2, RelPoseRect)

Herror T_gen_binocular_rectification_map(Hobject* Map1, Hobject* Map2, const Htuple CamParam1, const Htuple CamParam2, const Htuple RelPose, const Htuple SubSampling, const Htuple Method, const Htuple MapType, Htuple* CamParamRect1, Htuple* CamParamRect2, Htuple* CamPoseRect1, Htuple* CamPoseRect2, Htuple* RelPoseRect)

Herror gen_binocular_rectification_map(Hobject* Map1, Hobject* Map2, const HTuple& CamParam1, const HTuple& CamParam2, const HTuple& RelPose, const HTuple& SubSampling, const HTuple& Method, const HTuple& MapType, HTuple* CamParamRect1, HTuple* CamParamRect2, HTuple* CamPoseRect1, HTuple* CamPoseRect2, HTuple* RelPoseRect)

HImage HImage::GenBinocularRectificationMap(HImage* Map2, const HTuple& CamParam1, const HTuple& CamParam2, const HTuple& RelPose, const HTuple& SubSampling, const HTuple& Method, const HTuple& MapType, HTuple* CamParamRect1, HTuple* CamParamRect2, HTuple* CamPoseRect1, HTuple* CamPoseRect2, HTuple* RelPoseRect)

void GenBinocularRectificationMap(HObject* Map1, HObject* Map2, const HTuple& CamParam1, const HTuple& CamParam2, const HTuple& RelPose, const HTuple& SubSampling, const HTuple& Method, const HTuple& MapType, HTuple* CamParamRect1, HTuple* CamParamRect2, HTuple* CamPoseRect1, HTuple* CamPoseRect2, HTuple* RelPoseRect)

HImage HImage::GenBinocularRectificationMap(const HTuple& CamParam1, const HTuple& CamParam2, const HPose& RelPose, double SubSampling, const HString& Method, const HString& MapType, HTuple* CamParamRect1, HTuple* CamParamRect2, HPose* CamPoseRect1, HPose* CamPoseRect2, HPose* RelPoseRect)

HImage HImage::GenBinocularRectificationMap(const HTuple& CamParam1, const HTuple& CamParam2, const HPose& RelPose, double SubSampling, const char* Method, const char* MapType, HTuple* CamParamRect1, HTuple* CamParamRect2, HPose* CamPoseRect1, HPose* CamPoseRect2, HPose* RelPoseRect)

HImage HPose::GenBinocularRectificationMap(HImage* Map2, const HTuple& CamParam1, const HTuple& CamParam2, double SubSampling, const HString& Method, const HString& MapType, HTuple* CamParamRect1, HTuple* CamParamRect2, HPose* CamPoseRect1, HPose* CamPoseRect2, HPose* RelPoseRect) const

HImage HPose::GenBinocularRectificationMap(HImage* Map2, const HTuple& CamParam1, const HTuple& CamParam2, double SubSampling, const char* Method, const char* MapType, HTuple* CamParamRect1, HTuple* CamParamRect2, HPose* CamPoseRect1, HPose* CamPoseRect2, HPose* RelPoseRect) const

void HOperatorSetX.GenBinocularRectificationMap(
[out] IHUntypedObjectX*Map1, [out] IHUntypedObjectX*Map2, [in] VARIANT CamParam1, [in] VARIANT CamParam2, [in] VARIANT RelPose, [in] VARIANT SubSampling, [in] VARIANT Method, [in] VARIANT MapType, [out] VARIANT* CamParamRect1, [out] VARIANT* CamParamRect2, [out] VARIANT* CamPoseRect1, [out] VARIANT* CamPoseRect2, [out] VARIANT* RelPoseRect)

IHImageX* HImageX.GenBinocularRectificationMap(
[in] VARIANT CamParam1, [in] VARIANT CamParam2, [in] VARIANT RelPose, [in] double SubSampling, [in] BSTR Method, [in] BSTR MapType, [out] VARIANT* CamParamRect1, [out] VARIANT* CamParamRect2, [out] VARIANT* CamPoseRect1, [out] VARIANT* CamPoseRect2, [out] VARIANT* RelPoseRect)

IHImageX* HPoseX.GenBinocularRectificationMap(
[out] IHImageX*Map2, [in] VARIANT CamParam1, [in] VARIANT CamParam2, [in] VARIANT RelPose, [in] double SubSampling, [in] BSTR Method, [in] BSTR MapType, [out] VARIANT* CamParamRect1, [out] VARIANT* CamParamRect2, [out] VARIANT* CamPoseRect1, [out] VARIANT* CamPoseRect2, [out] VARIANT* RelPoseRect)

static void HOperatorSet.GenBinocularRectificationMap(out HObject map1, out HObject map2, HTuple camParam1, HTuple camParam2, HTuple relPose, HTuple subSampling, HTuple method, HTuple mapType, out HTuple camParamRect1, out HTuple camParamRect2, out HTuple camPoseRect1, out HTuple camPoseRect2, out HTuple relPoseRect)

HImage HImage.GenBinocularRectificationMap(HTuple camParam1, HTuple camParam2, HPose relPose, double subSampling, string method, string mapType, out HTuple camParamRect1, out HTuple camParamRect2, out HPose camPoseRect1, out HPose camPoseRect2, out HPose relPoseRect)

HImage HPose.GenBinocularRectificationMap(out HImage map2, HTuple camParam1, HTuple camParam2, double subSampling, string method, string mapType, out HTuple camParamRect1, out HTuple camParamRect2, out HPose camPoseRect1, out HPose camPoseRect2, out HPose relPoseRect)

Description

Given a pair of stereo images, rectification determines a transformation of each image plane in a way that pairs of conjugate epipolar lines become collinear and parallel to the horizontal image axes. The rectified images can be thought of as acquired by a new stereo rig, obtained by rotating and, in case of telecentric cameras, translating the original cameras. The camera centers, respectively the optical axes in the telecentric case, are maintained. For perspective cameras, the image planes are additionally transformed in a common plane, which means that the focal lengths are set equal, and the optical axes are parallel.

To achieve the transformation map for rectified images gen_binocular_rectification_mapgen_binocular_rectification_mapGenBinocularRectificationMapgen_binocular_rectification_mapGenBinocularRectificationMapGenBinocularRectificationMap requires the internal camera parameters CamParam1CamParam1CamParam1CamParam1CamParam1camParam1 of camera 1 and CamParam2CamParam2CamParam2CamParam2CamParam2camParam2 of camera 2, as well as the relative pose RelPoseRelPoseRelPoseRelPoseRelPoserelPose defining a point transformation from camera 2 to camera 1. These parameters can be obtained, e.g., from the operator calibrate_camerascalibrate_camerasCalibrateCamerascalibrate_camerasCalibrateCamerasCalibrateCameras.

The internal camera parameters, modified by the rectification, are returned in CamParamRect1CamParamRect1CamParamRect1CamParamRect1CamParamRect1camParamRect1 for camera 1 and CamParamRect2CamParamRect2CamParamRect2CamParamRect2CamParamRect2camParamRect2 for camera 2, respectively. The rotation and, in case of telecentric cameras, translation of the rectified camera in relation to the original camera is specified by CamPoseRect1CamPoseRect1CamPoseRect1CamPoseRect1CamPoseRect1camPoseRect1 and CamPoseRect2CamPoseRect2CamPoseRect2CamPoseRect2CamPoseRect2camPoseRect2, respectively. Finally, RelPoseRectRelPoseRectRelPoseRectRelPoseRectRelPoseRectrelPoseRect returns the modified relative pose of the rectified camera system 2 in relation to the rectified camera system 1.

For perspective cameras, RelPoseRectRelPoseRectRelPoseRectRelPoseRectRelPoseRectrelPoseRect has only a translation in x. Generally, the transformations are defined in a way that the rectified camera 1 is left of the rectified camera 2. This means that the optical center of camera 2 has a positive x coordinate of the rectified coordinate system of camera 1.

The projection onto a common plane has many degrees of freedom which are implicitly restricted by selecting a certain method in MethodMethodMethodMethodMethodmethod (currently only one method available):

For telecentric cameras, the parameter MethodMethodMethodMethodMethodmethod is ignored. The relative pose of both cameras is not uniquely defined in such a system, since the cameras return identical images no matter how they are translated along their optical axis. Yet, in order to define an absolute distance measurement to the cameras, a standard position of both cameras is considered. This position is defined as follows: Both cameras are translated along their optical axes until their distance is one meter and until the line between the cameras (baseline) forms the same angle with both optical axes (i.e. the baseline and the optical axes form an isosceles triangle). The optical axes remain unchanged. The relative pose of the rectified cameras RelPoseRectRelPoseRectRelPoseRectRelPoseRectRelPoseRectrelPoseRect may be different from the relative pose of the original cameras RelPoseRelPoseRelPoseRelPoseRelPoserelPose.

The mapping functions for the images of camera 1 and camera 2 are returned in the images Map1Map1Map1Map1Map1map1 and Map2Map2Map2Map2Map2map2. MapTypeMapTypeMapTypeMapTypeMapTypemapType is used to specify the type of the output maps. If 'nearest_neighbor'"nearest_neighbor""nearest_neighbor""nearest_neighbor""nearest_neighbor""nearest_neighbor" is chosen, both maps consist of one image containing one channel, in which for each pixel of the resulting image the linearized coordinate of the pixel of the input image is stored that is the nearest neighbor to the transformed coordinates. If 'bilinear'"bilinear""bilinear""bilinear""bilinear""bilinear" interpolation is chosen, both maps consists of one image containing five channels. In the first channel for each pixel in the resulting image the linearized coordinates of the pixel in the input image is stored that is in the upper left position relative to the transformed coordinates. The four other channels contain the weights of the four neighboring pixels of the transformed coordinates which are used for the bilinear interpolation, in the following order:

+---+---+
| 2 | 3 |
+---+---+
| 4 | 5 |
+---+---+

The second channel, for example, contains the weights of the pixels that lie to the upper left relative to the transformed coordinates. If 'coordinate_map_sub_pix'"coordinate_map_sub_pix""coordinate_map_sub_pix""coordinate_map_sub_pix""coordinate_map_sub_pix""coordinate_map_sub_pix" is chosen, both maps consist of one vector field image, in which for each pixel of the resulting image the subpixel precise coordinates in the input image are stored.

The size and resolution of the maps and of the transformed images can be adjusted by the SubSamplingSubSamplingSubSamplingSubSamplingSubSamplingsubSampling parameter which applies a sub-sampling factor to the original images.

If you want to re-use the created map in another program, you can save it as a multi-channel image with the operator write_imagewrite_imageWriteImagewrite_imageWriteImageWriteImage, using the format 'tiff'"tiff""tiff""tiff""tiff""tiff".

Parallelization

Parameters

Map1Map1Map1Map1Map1map1 (output_object)  (multichannel-)image objectHImageHImageHImageHImageXHobject * (int4 / uint2 / vector_field)

Image containing the mapping data of camera 1.

Map2Map2Map2Map2Map2map2 (output_object)  (multichannel-)image objectHImageHImageHImageHImageXHobject * (int4 / uint2 / vector_field)

Image containing the mapping data of camera 2.

CamParam1CamParam1CamParam1CamParam1CamParam1camParam1 (input_control)  number-array HTupleHTupleHTupleVARIANTHtuple (real / integer) (double / int / long) (double / Hlong) (double / Hlong) (double / Hlong) (double / Hlong)

Internal parameters of the projective camera 1.

Number of elements: CamParam1 == 8 || CamParam1 == 12

CamParam2CamParam2CamParam2CamParam2CamParam2camParam2 (input_control)  number-array HTupleHTupleHTupleVARIANTHtuple (real / integer) (double / int / long) (double / Hlong) (double / Hlong) (double / Hlong) (double / Hlong)

Internal parameters of the projective camera 2.

Number of elements: CamParam2 == 8 || CamParam2 == 12

RelPoseRelPoseRelPoseRelPoseRelPoserelPose (input_control)  pose HPose, HTupleHTupleHTupleHPoseX, VARIANTHtuple (real / integer) (double / int / long) (double / Hlong) (double / Hlong) (double / Hlong) (double / Hlong)

Point transformation from camera 2 to camera 1.

Number of elements: 7

SubSamplingSubSamplingSubSamplingSubSamplingSubSamplingsubSampling (input_control)  real HTupleHTupleHTupleVARIANTHtuple (real) (double) (double) (double) (double) (double)

Factor of sub sampling.

Default value: 1.0

Suggested values: 0.5, 0.66, 1.0, 1.5, 2.0, 3.0, 4.0

MethodMethodMethodMethodMethodmethod (input_control)  string HTupleHTupleHTupleVARIANTHtuple (string) (string) (HString) (char*) (BSTR) (char*)

Type of rectification.

Default value: 'geometric' "geometric" "geometric" "geometric" "geometric" "geometric"

List of values: 'geometric'"geometric""geometric""geometric""geometric""geometric"

MapTypeMapTypeMapTypeMapTypeMapTypemapType (input_control)  string HTupleHTupleHTupleVARIANTHtuple (string) (string) (HString) (char*) (BSTR) (char*)

Type of mapping.

Default value: 'bilinear' "bilinear" "bilinear" "bilinear" "bilinear" "bilinear"

List of values: 'bilinear'"bilinear""bilinear""bilinear""bilinear""bilinear", 'coord_map_sub_pix'"coord_map_sub_pix""coord_map_sub_pix""coord_map_sub_pix""coord_map_sub_pix""coord_map_sub_pix", 'nearest_neighbor'"nearest_neighbor""nearest_neighbor""nearest_neighbor""nearest_neighbor""nearest_neighbor"

CamParamRect1CamParamRect1CamParamRect1CamParamRect1CamParamRect1camParamRect1 (output_control)  number-array HTupleHTupleHTupleVARIANTHtuple (real / integer) (double / int / long) (double / Hlong) (double / Hlong) (double / Hlong) (double / Hlong)

Rectified internal parameters of the projective camera 1.

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

CamParamRect2CamParamRect2CamParamRect2CamParamRect2CamParamRect2camParamRect2 (output_control)  number-array HTupleHTupleHTupleVARIANTHtuple (real / integer) (double / int / long) (double / Hlong) (double / Hlong) (double / Hlong) (double / Hlong)

Rectified internal parameters of the projective camera 2.

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

CamPoseRect1CamPoseRect1CamPoseRect1CamPoseRect1CamPoseRect1camPoseRect1 (output_control)  pose HPose, HTupleHTupleHTupleHPoseX, VARIANTHtuple (real / integer) (double / int / long) (double / Hlong) (double / Hlong) (double / Hlong) (double / Hlong)

Point transformation from the rectified camera 1 to the original camera 1.

Number of elements: 7

CamPoseRect2CamPoseRect2CamPoseRect2CamPoseRect2CamPoseRect2camPoseRect2 (output_control)  pose HPose, HTupleHTupleHTupleHPoseX, VARIANTHtuple (real / integer) (double / int / long) (double / Hlong) (double / Hlong) (double / Hlong) (double / Hlong)

Point transformation from the rectified camera 1 to the original camera 1.

Number of elements: 7

RelPoseRectRelPoseRectRelPoseRectRelPoseRectRelPoseRectrelPoseRect (output_control)  pose HPose, HTupleHTupleHTupleHPoseX, VARIANTHtuple (real / integer) (double / int / long) (double / Hlong) (double / Hlong) (double / Hlong) (double / Hlong)

Point transformation from the rectified camera 2 to the rectified camera 1.

Number of elements: 7

Example (HDevelop)

* read the internal and external stereo parameters
read_cam_par ('cam_left.dat', CamParam1)
read_cam_par ('cam_right.dat', CamParam2)
read_pose ('relpos.dat', RelPose)

* compute the mapping for rectified images
gen_binocular_rectification_map (Map1, Map2, CamParam1, CamParam2, RelPose, \
                                 1,'geometric', 'bilinear', CamParRect1, \
                                 CamParamRect2, Cam1PoseRect1, \
                                 Cam2PoseRect2, RelPoseRect)

* compute the disparities in online images
while (1)
  grab_image_async (Image1, AcqHandle1, -1)
  map_image (Image1, Map1, ImageMapped1)

  grab_image_async (Image2, AcqHandle2, -1)
  map_image (Image2, Map2, ImageMapped2)

  binocular_disparity(ImageMapped1, ImageMapped2, Disparity, Score, 'sad', \
                      11, 11, 20, -40, 20, 2, 25, 'left_right_check', \
                      'interpolation')
endwhile

Example (HDevelop)

* read the internal and external stereo parameters
read_cam_par ('cam_left.dat', CamParam1)
read_cam_par ('cam_right.dat', CamParam2)
read_pose ('relpos.dat', RelPose)

* compute the mapping for rectified images
gen_binocular_rectification_map (Map1, Map2, CamParam1, CamParam2, RelPose, \
                                 1,'geometric', 'bilinear', CamParRect1, \
                                 CamParamRect2, Cam1PoseRect1, \
                                 Cam2PoseRect2, RelPoseRect)

* compute the disparities in online images
while (1)
  grab_image_async (Image1, AcqHandle1, -1)
  map_image (Image1, Map1, ImageMapped1)

  grab_image_async (Image2, AcqHandle2, -1)
  map_image (Image2, Map2, ImageMapped2)

  binocular_disparity(ImageMapped1, ImageMapped2, Disparity, Score, 'sad', \
                      11, 11, 20, -40, 20, 2, 25, 'left_right_check', \
                      'interpolation')
endwhile

Example (HDevelop)

* read the internal and external stereo parameters
read_cam_par ('cam_left.dat', CamParam1)
read_cam_par ('cam_right.dat', CamParam2)
read_pose ('relpos.dat', RelPose)

* compute the mapping for rectified images
gen_binocular_rectification_map (Map1, Map2, CamParam1, CamParam2, RelPose, \
                                 1,'geometric', 'bilinear', CamParRect1, \
                                 CamParamRect2, Cam1PoseRect1, \
                                 Cam2PoseRect2, RelPoseRect)

* compute the disparities in online images
while (1)
  grab_image_async (Image1, AcqHandle1, -1)
  map_image (Image1, Map1, ImageMapped1)

  grab_image_async (Image2, AcqHandle2, -1)
  map_image (Image2, Map2, ImageMapped2)

  binocular_disparity(ImageMapped1, ImageMapped2, Disparity, Score, 'sad', \
                      11, 11, 20, -40, 20, 2, 25, 'left_right_check', \
                      'interpolation')
endwhile

Example (C++ (HALCON 5.0-10.0))

// read the internal and external stereo parameters
read_cam_par("cam_left.dat",CamParam1);
read_cam_par("cam_right.dat",CamParam2);
read_pose("relpos.dat",RelPose);
// compute the mapping for rectified images
gen_binocular_rectification_map(&Map1,&Map2,CamParam1,CamParam2,RelPose,1,
                                "geometric","bilinear",&CamParamRect1,
                                &CamParamRect2,&CamPoseRect1,&CamPoseRect2,
                                &RelPosRect);
// compute the disparities in online images
while (1)
{
  grab_image_async(&Image1,AcqHandle1,-1);
  map_image(Image1,Map1,&ImageMapped1);

  grab_image_async(&Image2,AcqHandle2,-1);
  map_image(Image2,Map2,&ImageMapped2);

  binocular_disparity(ImageMapped1,ImageMapped2,&Disparity,&Score,"sad",
                      11,11,20,-40,20,2,25,"left_right_check",
                      "interpolation");
}

Example (HDevelop)

* read the internal and external stereo parameters
read_cam_par ('cam_left.dat', CamParam1)
read_cam_par ('cam_right.dat', CamParam2)
read_pose ('relpos.dat', RelPose)

* compute the mapping for rectified images
gen_binocular_rectification_map (Map1, Map2, CamParam1, CamParam2, RelPose, \
                                 1,'geometric', 'bilinear', CamParRect1, \
                                 CamParamRect2, Cam1PoseRect1, \
                                 Cam2PoseRect2, RelPoseRect)

* compute the disparities in online images
while (1)
  grab_image_async (Image1, AcqHandle1, -1)
  map_image (Image1, Map1, ImageMapped1)

  grab_image_async (Image2, AcqHandle2, -1)
  map_image (Image2, Map2, ImageMapped2)

  binocular_disparity(ImageMapped1, ImageMapped2, Disparity, Score, 'sad', \
                      11, 11, 20, -40, 20, 2, 25, 'left_right_check', \
                      'interpolation')
endwhile

Example (HDevelop)

* read the internal and external stereo parameters
read_cam_par ('cam_left.dat', CamParam1)
read_cam_par ('cam_right.dat', CamParam2)
read_pose ('relpos.dat', RelPose)

* compute the mapping for rectified images
gen_binocular_rectification_map (Map1, Map2, CamParam1, CamParam2, RelPose, \
                                 1,'geometric', 'bilinear', CamParRect1, \
                                 CamParamRect2, Cam1PoseRect1, \
                                 Cam2PoseRect2, RelPoseRect)

* compute the disparities in online images
while (1)
  grab_image_async (Image1, AcqHandle1, -1)
  map_image (Image1, Map1, ImageMapped1)

  grab_image_async (Image2, AcqHandle2, -1)
  map_image (Image2, Map2, ImageMapped2)

  binocular_disparity(ImageMapped1, ImageMapped2, Disparity, Score, 'sad', \
                      11, 11, 20, -40, 20, 2, 25, 'left_right_check', \
                      'interpolation')
endwhile

Result

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

Possible Predecessors

binocular_calibrationbinocular_calibrationBinocularCalibrationbinocular_calibrationBinocularCalibrationBinocularCalibration

Possible Successors

map_imagemap_imageMapImagemap_imageMapImageMapImage

Alternatives

gen_image_to_world_plane_mapgen_image_to_world_plane_mapGenImageToWorldPlaneMapgen_image_to_world_plane_mapGenImageToWorldPlaneMapGenImageToWorldPlaneMap

See also

map_imagemap_imageMapImagemap_imageMapImageMapImage, gen_image_to_world_plane_mapgen_image_to_world_plane_mapGenImageToWorldPlaneMapgen_image_to_world_plane_mapGenImageToWorldPlaneMapGenImageToWorldPlaneMap, contour_to_world_plane_xldcontour_to_world_plane_xldContourToWorldPlaneXldcontour_to_world_plane_xldContourToWorldPlaneXldContourToWorldPlaneXld, image_points_to_world_planeimage_points_to_world_planeImagePointsToWorldPlaneimage_points_to_world_planeImagePointsToWorldPlaneImagePointsToWorldPlane

Module

3D Metrology


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