List of Operators ↓
This chapter contains operators for multi-view 3D reconstruction.
With multi-view 3D reconstruction, it is possible to generate 3D objects using 2D images from multiple cameras. It is possible to reconstruct the complete 3D surface of an object, or single 3D points.
In the following, the steps that are required to reconstruct surfaces and points are described briefly. Note that a well-calibrated camera setup is the main requirement for a precise 3D reconstruction; see calibrate_cameras for more details. Additionally, in the HDevelop example reconstruct_surface_mixed_camera_types.hdev, a typical calibration workflow (from the calibration data model via the camera setup model to the stereo model) is performed.
First, create the stereo model using
If you want to reconstruct 3D points, choose the Method 'points_3d'.
For the reconstruction of surfaces, the methods 'surface_pairwise' and 'surface_fusion' are available. For detailed information on these two methods, have a look at the reference manual entry of reconstruct_surface_stereo.
For the reconstruction of 3D surfaces, multiple binocular stereo reconstructions are performed, and then combined. For the binocular reconstruction, image pairs have to be specified. For example, for the three images shown above, the image pairs might be [0,1] and [1,2]. The image pairs have to be specified using
and query the image pairs with
For more information, see reconstruct_surface_stereo as well as the above-mentioned operators.
you can optimize the settings of the 3D reconstruction for your setup.
When reconstructing surfaces, it is highly recommended to limit the 3D reconstruction using a bounding box which is as tight as possible around the object that is to be reconstructed.
When using the 'surface_fusion' Method in create_stereo_model, it is recommended to first optimize the parameters of the 'surface_pairwise' Method, since it is used as a basis. For more details on the parameters, see the examples reconstruct_surface_stereo_pairwise_workflow.hdev and reconstruct_surface_stereo_fusion_workflow.hdev.
You can query the set parameters with
Then, to perform the actual reconstruction, use
Note that to query these intermediate results, you must enable the 'persistence' mode for the stereo model with set_stereo_model_param before performing the reconstruction.
you can access and inspect intermediate results of a surface reconstruction performed with reconstruct_surface_stereo. These images can be used for troubleshooting the reconstruction process.
you can get the 3D object model that was reconstructed with reconstruct_surface_stereo as an intermediate result using the Method 'surface_fusion'.