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disparity_to_point_3dT_disparity_to_point_3dDisparityToPoint3ddisparity_to_point_3dDisparityToPoint3dDisparityToPoint3d (Operator)

Name

disparity_to_point_3dT_disparity_to_point_3dDisparityToPoint3ddisparity_to_point_3dDisparityToPoint3dDisparityToPoint3d — Berechnet aus Bildpunkten und ihren Disparitäten in einem gleichgerichteten Kamerapaar die zugehörigen Weltpunkte.

Signatur

disparity_to_point_3d( : : CamParamRect1, CamParamRect2, RelPoseRect, Row1, Col1, Disparity : X, Y, Z)

Herror T_disparity_to_point_3d(const Htuple CamParamRect1, const Htuple CamParamRect2, const Htuple RelPoseRect, const Htuple Row1, const Htuple Col1, const Htuple Disparity, Htuple* X, Htuple* Y, Htuple* Z)

Herror disparity_to_point_3d(const HTuple& CamParamRect1, const HTuple& CamParamRect2, const HTuple& RelPoseRect, const HTuple& Row1, const HTuple& Col1, const HTuple& Disparity, double* X, double* Y, double* Z)

Herror disparity_to_point_3d(const HTuple& CamParamRect1, const HTuple& CamParamRect2, const HTuple& RelPoseRect, const HTuple& Row1, const HTuple& Col1, const HTuple& Disparity, HTuple* X, HTuple* Y, HTuple* Z)

void DisparityToPoint3d(const HTuple& CamParamRect1, const HTuple& CamParamRect2, const HTuple& RelPoseRect, const HTuple& Row1, const HTuple& Col1, const HTuple& Disparity, HTuple* X, HTuple* Y, HTuple* Z)

void HPose::DisparityToPoint3d(const HTuple& CamParamRect1, const HTuple& CamParamRect2, const HTuple& Row1, const HTuple& Col1, const HTuple& Disparity, HTuple* X, HTuple* Y, HTuple* Z) const

void HPose::DisparityToPoint3d(const HTuple& CamParamRect1, const HTuple& CamParamRect2, double Row1, double Col1, double Disparity, double* X, double* Y, double* Z) const

void HOperatorSetX.DisparityToPoint3d(
[in] VARIANT CamParamRect1, [in] VARIANT CamParamRect2, [in] VARIANT RelPoseRect, [in] VARIANT Row1, [in] VARIANT Col1, [in] VARIANT Disparity, [out] VARIANT* X, [out] VARIANT* Y, [out] VARIANT* Z)

VARIANT HPoseX.DisparityToPoint3d(
[in] VARIANT CamParamRect1, [in] VARIANT CamParamRect2, [in] VARIANT RelPoseRect, [in] VARIANT Row1, [in] VARIANT Col1, [in] VARIANT Disparity, [out] VARIANT* Y, [out] VARIANT* Z)

static void HOperatorSet.DisparityToPoint3d(HTuple camParamRect1, HTuple camParamRect2, HTuple relPoseRect, HTuple row1, HTuple col1, HTuple disparity, out HTuple x, out HTuple y, out HTuple z)

void HPose.DisparityToPoint3d(HTuple camParamRect1, HTuple camParamRect2, HTuple row1, HTuple col1, HTuple disparity, out HTuple x, out HTuple y, out HTuple z)

void HPose.DisparityToPoint3d(HTuple camParamRect1, HTuple camParamRect2, double row1, double col1, double disparity, out double x, out double y, out double z)

Beschreibung

Ausgehend von einem Bildpunkt (Row1Row1Row1Row1Row1row1,Col1Col1Col1Col1Col1col1) in dem entzerrten Kamerasystem 1 und seiner Disparität in einem entzerrten binokularen Stereosystem, berechnet disparity_to_point_3ddisparity_to_point_3dDisparityToPoint3ddisparity_to_point_3dDisparityToPoint3dDisparityToPoint3d den korrespondierenden 3D Objektpunkt. Dabei spezifiziert der Disparitätswert DisparityDisparityDisparityDisparityDisparitydisparity die Spaltendifferenz der Bildkoordinaten zweier korrespondierender Merkmale auf einer Epipolarlinie entsprechend der Gleichung . Das entzerrte binokulare Kamerasystem wird durch seine internen Kameraparameter CamParamRect1CamParamRect1CamParamRect1CamParamRect1CamParamRect1camParamRect1 der projektiven Kamera 1 und CamParamRect2CamParamRect2CamParamRect2CamParamRect2CamParamRect2camParamRect2 der projektiven Kamera 2 und die externen Parameter RelPoseRectRelPoseRectRelPoseRectRelPoseRectRelPoseRectrelPoseRect bestimmt, welche die Lage des entzerrten Kamerasystems 2 bezüglich des entzerrten Kamerasystems 1 beschreiben. Die Werte für diese Kameraparameter können von den Operatoren calibrate_camerascalibrate_camerasCalibrateCamerascalibrate_camerasCalibrateCamerasCalibrateCameras und gen_binocular_rectification_mapgen_binocular_rectification_mapGenBinocularRectificationMapgen_binocular_rectification_mapGenBinocularRectificationMapGenBinocularRectificationMap erhalten werden. Der 3D Punkt wird in den kartesischen Koordinaten (XXXXXx,YYYYYy,ZZZZZz) des entzerrten Kamerasystems 1 zurückgegeben.

Parallelisierung

Parameter

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

Interne Kameraparameter der projektiven 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 projektiven 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)

Lage der zweiten Kamera bzgl. der ersten.

Parameteranzahl: 7

Row1Row1Row1Row1Row1row1 (input_control)  number(-array) HTupleHTupleHTupleVARIANTHtuple (real / integer) (double / int / long) (double / Hlong) (double / Hlong) (double / Hlong) (double / Hlong)

Zeilenkoordinate eines Punktes im entzerrten Kamerasystem 1.

Col1Col1Col1Col1Col1col1 (input_control)  number(-array) HTupleHTupleHTupleVARIANTHtuple (real / integer) (double / int / long) (double / Hlong) (double / Hlong) (double / Hlong) (double / Hlong)

Spaltenkoordinate eines Punktes im entzerrten Kamerasystem 1.

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

Disparität zwischen den Punkt-Abbildungen.

XXXXXx (output_control)  real(-array) HTupleHTupleHTupleVARIANTHtuple (real) (double) (double) (double) (double) (double)

X Koordinate des Weltpunktes.

YYYYYy (output_control)  real(-array) HTupleHTupleHTupleVARIANTHtuple (real) (double) (double) (double) (double) (double)

Y Koordinate des Weltpunktes.

ZZZZZz (output_control)  real(-array) HTupleHTupleHTupleVARIANTHtuple (real) (double) (double) (double) (double) (double)

Z Koordinate des Weltpunktes.

Ergebnis

Sind die Parameterwerte korrekt, dann liefert disparity_to_point_3ddisparity_to_point_3dDisparityToPoint3ddisparity_to_point_3dDisparityToPoint3dDisparityToPoint3d den Wert 2 (H_MSG_TRUE).

Vorgänger

binocular_calibrationbinocular_calibrationBinocularCalibrationbinocular_calibrationBinocularCalibrationBinocularCalibration, gen_binocular_rectification_mapgen_binocular_rectification_mapGenBinocularRectificationMapgen_binocular_rectification_mapGenBinocularRectificationMapGenBinocularRectificationMap

Alternativen

disparity_image_to_xyzdisparity_image_to_xyzDisparityImageToXyzdisparity_image_to_xyzDisparityImageToXyzDisparityImageToXyz

Siehe auch

binocular_disparitybinocular_disparityBinocularDisparitybinocular_disparityBinocularDisparityBinocularDisparity, binocular_distancebinocular_distanceBinocularDistancebinocular_distanceBinocularDistanceBinocularDistance, intersect_lines_of_sightintersect_lines_of_sightIntersectLinesOfSightintersect_lines_of_sightIntersectLinesOfSightIntersectLinesOfSight

Modul

3D Metrology


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