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binocular_distance_mgT_binocular_distance_mgBinocularDistanceMgbinocular_distance_mgBinocularDistanceMgBinocularDistanceMg (Operator)

Name

binocular_distance_mgT_binocular_distance_mgBinocularDistanceMgbinocular_distance_mgBinocularDistanceMgBinocularDistanceMg — Berechnet das Distanzbild für ein rektifiziertes Bildpaar mit Hilfe von Mehrgitter-Verfahren.

Signatur

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 HTuple& CamParamRect1, const HTuple& 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 HTuple& CamParamRect1, const HTuple& 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 HTuple& CamParamRect1, const HTuple& 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 HTuple& CamParamRect1, const HTuple& 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 HTuple& CamParamRect1, const HTuple& 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 HTuple& CamParamRect1, const HTuple& 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* 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, HTuple camParamRect1, HTuple 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, HTuple camParamRect1, HTuple 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, HTuple camParamRect1, HTuple 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, HTuple camParamRect1, HTuple camParamRect2, double grayConstancy, double gradientConstancy, double smoothness, double initialGuess, string calculateScore, string MGParamName, string MGParamValue)

Beschreibung

binocular_distance_mgbinocular_distance_mgBinocularDistanceMgbinocular_distance_mgBinocularDistanceMgBinocularDistanceMg berechnet das Distanzbild für ein rektifiziertes Bildpaar mit Hilfe von Mehrgitter-Verfahren. Der Operator berechnet zunächst die Disparitäten zwischen den zwei rektifizierten Bildern ImageRect1ImageRect1ImageRect1ImageRect1ImageRect1imageRect1 und ImageRect2ImageRect2ImageRect2ImageRect2ImageRect2imageRect2 ähnlich wie in binocular_disparity_mgbinocular_disparity_mgBinocularDisparityMgbinocular_disparity_mgBinocularDisparityMgBinocularDisparityMg. Die resultierenden Disparitätswerte werden dann wie in disparity_to_distancedisparity_to_distanceDisparityToDistancedisparity_to_distanceDisparityToDistanceDisparityToDistance in Distanzwerte der korrespondierenden 3D Weltpunkte zu dem rektifizierten Stereo-Kamerasystem transformiert. Die Distanzen werden in dem einkanaligen Bild DistanceDistanceDistanceDistanceDistancedistance zurückgegeben, in dem jeder Grauwert den Abstand des jeweiligen 3D Weltpunktes zu dem Stereo-Kamerasystem repräsentiert. Anders als in binocular_distancebinocular_distanceBinocularDistancebinocular_distanceBinocularDistanceBinocularDistance verwendet dieser Operator Variationsmethoden basierend auf Mehrgitter-Verfahren. Damit können auch Distanzwerte für Bildbereiche bestimmt werden, die keine oder kaum Testur aufweisen.

Die Eingabeparameter ImageRect1ImageRect1ImageRect1ImageRect1ImageRect1imageRect1 und ImageRect2ImageRect2ImageRect2ImageRect2ImageRect2imageRect2 müssen ein Paar rektifizierte Stereobilder darstellen, d.h. korrespondierende Punkte müssen diesselbe Zeilen-Koordinate haben. Falls diese Annahme nicht zutrifft, können die Bilder mit den Operatoren calibrate_camerascalibrate_camerasCalibrateCamerascalibrate_camerasCalibrateCamerasCalibrateCameras, gen_binocular_rectification_mapgen_binocular_rectification_mapGenBinocularRectificationMapgen_binocular_rectification_mapGenBinocularRectificationMapGenBinocularRectificationMap und map_imagemap_imageMapImagemap_imageMapImageMapImage rektifiziert werden.

Für die Transformation der Disparität in den Abstand werden die internen Parameter für die rektifizierte Kamera 1 in CamParamRect1CamParamRect1CamParamRect1CamParamRect1CamParamRect1camParamRect1 und für die rektifizierte Kamera 2 in CamParamRect2CamParamRect2CamParamRect2CamParamRect2CamParamRect2camParamRect2 sowie die relativen Lage der Kameras in RelPoseRectRelPoseRectRelPoseRectRelPoseRectRelPoseRectrelPoseRect benötigt. Die relative Lage definiert eine Punkttransformation von dem entzerrten Kamerasystem 2 in das entzerrte Kamerasystem 1. Die Werte für diese Parameter erhält man beispielsweise von den Operatoren calibrate_camerascalibrate_camerasCalibrateCamerascalibrate_camerasCalibrateCamerasCalibrateCameras und gen_binocular_rectification_mapgen_binocular_rectification_mapGenBinocularRectificationMapgen_binocular_rectification_mapGenBinocularRectificationMapGenBinocularRectificationMap.

Die Beschreibung des Verfahrens sowie der weiteren Parameter findet sich in der Dokumentation von binocular_disparity_mgbinocular_disparity_mgBinocularDisparityMgbinocular_disparity_mgBinocularDisparityMgBinocularDisparityMg.

Achtung

Bei der Verwendung von telezentrischen Kameras bezieht sich die Distanz DistanceDistanceDistanceDistanceDistancedistance nicht auf die Entfernung eines Punktes zum Projektionszentrum einer Kamera. Die Entfernung wird zu der Ebene gemessen, die durch die y-Achse beider Kameras und der Basis (siehe gen_binocular_rectification_mapgen_binocular_rectification_mapGenBinocularRectificationMapgen_binocular_rectification_mapGenBinocularRectificationMapGenBinocularRectificationMap) definiert ist.

Parallelisierung

Parameter

ImageRect1ImageRect1ImageRect1ImageRect1ImageRect1imageRect1 (input_object)  singlechannelimage(-array) → objectHImageHImageHImageHImageXHobject (byte / uint2 / real)

Rektifiziertes Bild von Kamera 1.

ImageRect2ImageRect2ImageRect2ImageRect2ImageRect2imageRect2 (input_object)  singlechannelimage(-array) → objectHImageHImageHImageHImageXHobject (byte / uint2 / real)

Rektifiziertes Bild von Kamera 2.

DistanceDistanceDistanceDistanceDistancedistance (output_object)  singlechannelimage(-array) → objectHImageHImageHImageHImageXHobject * (real)

Abstandsbild.

ScoreScoreScoreScoreScorescore (output_object)  singlechannelimage(-array) → objectHImageHImageHImageHImageXHobject * (real)

Güte der berechneten Disparität wenn CalculateScoreCalculateScoreCalculateScoreCalculateScoreCalculateScorecalculateScore auf 'true'"true""true""true""true""true" gesetzt ist.

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

Interne Kameraparameter der rektifizierten Kamera 1.

Parameteranzahl: CamParamRect1 == 8 || CamParamRect1 == 12

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

Interne Kameraparameter der rektifizierten Kamera 2.

Parameteranzahl: CamParamRect2 == 8 || CamParamRect2 == 12

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

Punkttransformation von entzerrter Kamera 2 zu entzerrter Kamera 1.

Parameteranzahl: 7

GrayConstancyGrayConstancyGrayConstancyGrayConstancyGrayConstancygrayConstancy (input_control)  real → HTupleHTupleHTupleVARIANTHtuple (real) (double) (double) (double) (double) (double)

Gewicht der Grauwerterhaltung im Datenterm.

Defaultwert: 1.0

Wertevorschläge: 0.0, 1.0, 2.0, 10.0

Restriktion: GrayConstancy >= 0.0

GradientConstancyGradientConstancyGradientConstancyGradientConstancyGradientConstancygradientConstancy (input_control)  real → HTupleHTupleHTupleVARIANTHtuple (real) (double) (double) (double) (double) (double)

Gewicht der Gradientenerhaltung im Datenterm.

Defaultwert: 30.0

Wertevorschläge: 0.0, 1.0, 5.0, 10.0, 30.0, 50.0, 70.0

Restriktion: GradientConstancy >= 0.0

SmoothnessSmoothnessSmoothnessSmoothnessSmoothnesssmoothness (input_control)  real → HTupleHTupleHTupleVARIANTHtuple (real) (double) (double) (double) (double) (double)

Gewicht des Glattheitsterms bezüglich des Datenterms.

Defaultwert: 5.0

Wertevorschläge: 1.0, 3.0, 5.0, 10.0

Restriktion: Smoothness > 0.0

InitialGuessInitialGuessInitialGuessInitialGuessInitialGuessinitialGuess (input_control)  real → HTupleHTupleHTupleVARIANTHtuple (real) (double) (double) (double) (double) (double)

Startwert für die Disparität.

Defaultwert: 0.0

Wertevorschläge: -30.0, -20.0, -10.0, 0.0, 10.0, 20.0, 30.0

CalculateScoreCalculateScoreCalculateScoreCalculateScoreCalculateScorecalculateScore (input_control)  string → HTupleHTupleHTupleVARIANTHtuple (string) (string) (HString) (char*) (BSTR) (char*)

Soll die Qualitätsschätzung in ScoreScoreScoreScoreScorescore zurückgegeben werden?.

Defaultwert: 'false' "false" "false" "false" "false" "false"

Wertevorschläge: 'true'"true""true""true""true""true", 'false'"false""false""false""false""false"

MGParamNameMGParamNameMGParamNameMGParamNameMGParamNameMGParamName (input_control)  attribute.name(-array) → HTupleHTupleHTupleVARIANTHtuple (string) (string) (HString) (char*) (BSTR) (char*)

Parametername(n) für das Mehrgitterverfahren.

Defaultwert: 'default_parameters' "default_parameters" "default_parameters" "default_parameters" "default_parameters" "default_parameters"

Werteliste: '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"

MGParamValueMGParamValueMGParamValueMGParamValueMGParamValueMGParamValue (input_control)  attribute.value(-array) → HTupleHTupleHTupleVARIANTHtuple (string / real / integer) (string / double / int / long) (HString / double / Hlong) (char* / double / Hlong) (BSTR / double / Hlong) (char* / double / Hlong)

Parameterwert(e) für das Mehrgitterverfahren.

Defaultwert: 'fast_accurate' "fast_accurate" "fast_accurate" "fast_accurate" "fast_accurate" "fast_accurate"

Wertevorschläge: '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

Ergebnis

Sind die Parameterwerte korrekt, dann liefert binocular_distance_mgbinocular_distance_mgBinocularDistanceMgbinocular_distance_mgBinocularDistanceMgBinocularDistanceMg den Wert 2 (H_MSG_TRUE). Das Verhalten bei leerer Eingabe (keine Eingabebilder vorhanden) lässt sich mittels 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>) festlegen. Gegebenenfalls wird eine Fehlerbehandlung durchgeführt.

Vorgänger

map_imagemap_imageMapImagemap_imageMapImageMapImage

Nachfolger

thresholdthresholdThresholdthresholdThresholdThreshold

Alternativen

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

Siehe auch

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

Modul

3D Metrology

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