disparity_to_point_3d T_disparity_to_point_3d DisparityToPoint3d DisparityToPoint3d disparity_to_point_3d (Operator)
Name
disparity_to_point_3d T_disparity_to_point_3d DisparityToPoint3d DisparityToPoint3d disparity_to_point_3d
— Berechnet aus Bildpunkten und ihren Disparitäten in einem
gleichgerichteten Kamerapaar die zugehörigen Weltpunkte.
Signatur
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 HCamPar ::DisparityToPoint3d (const HCamPar& CamParamRect2 , const HPose& RelPoseRect , const HTuple& Row1 , const HTuple& Col1 , const HTuple& Disparity , HTuple* X , HTuple* Y , HTuple* Z ) const
void HCamPar ::DisparityToPoint3d (const HCamPar& CamParamRect2 , const HPose& RelPoseRect , double Row1 , double Col1 , double Disparity , double* X , double* Y , double* Z ) const
void HPose ::DisparityToPoint3d (const HCamPar& CamParamRect1 , const HCamPar& CamParamRect2 , const HTuple& Row1 , const HTuple& Col1 , const HTuple& Disparity , HTuple* X , HTuple* Y , HTuple* Z ) const
void HPose ::DisparityToPoint3d (const HCamPar& CamParamRect1 , const HCamPar& CamParamRect2 , double Row1 , double Col1 , double Disparity , double* X , double* Y , double* Z ) const
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 HCamPar .DisparityToPoint3d (HCamPar camParamRect2 , HPose relPoseRect , HTuple row1 , HTuple col1 , HTuple disparity , out HTuple x , out HTuple y , out HTuple z )
void HCamPar .DisparityToPoint3d (HCamPar camParamRect2 , HPose relPoseRect , double row1 , double col1 , double disparity , out double x , out double y , out double z )
void HPose .DisparityToPoint3d (HCamPar camParamRect1 , HCamPar camParamRect2 , HTuple row1 , HTuple col1 , HTuple disparity , out HTuple x , out HTuple y , out HTuple z )
void HPose .DisparityToPoint3d (HCamPar camParamRect1 , HCamPar camParamRect2 , double row1 , double col1 , double disparity , out double x , out double y , out double z )
def disparity_to_point_3d (cam_param_rect_1 : Sequence[Union[int, float, str]], cam_param_rect_2 : Sequence[Union[int, float, str]], rel_pose_rect : Sequence[Union[int, float]], row_1 : MaybeSequence[Union[int, float]], col_1 : MaybeSequence[Union[int, float]], disparity : MaybeSequence[Union[int, float]]) -> Tuple[Sequence[float], Sequence[float], Sequence[float]]
def disparity_to_point_3d_s (cam_param_rect_1 : Sequence[Union[int, float, str]], cam_param_rect_2 : Sequence[Union[int, float, str]], rel_pose_rect : Sequence[Union[int, float]], row_1 : MaybeSequence[Union[int, float]], col_1 : MaybeSequence[Union[int, float]], disparity : MaybeSequence[Union[int, float]]) -> Tuple[float, float, float]
Beschreibung
Ausgehend von einem Bildpunkt (Row1 Row1 Row1 Row1 row1 row_1
,Col1 Col1 Col1 Col1 col1 col_1
) in dem
rektifizierten Kamerasystem 1 und seiner Disparität in einem
rektifizierten binokularen Stereosystem, berechnet
disparity_to_point_3d disparity_to_point_3d DisparityToPoint3d DisparityToPoint3d DisparityToPoint3d disparity_to_point_3d
den korrespondierenden 3D Objektpunkt.
Dabei spezifiziert der Disparitätswert Disparity Disparity Disparity Disparity disparity disparity
die
Spaltendifferenz der Bildkoordinaten zweier korrespondierender
Merkmale auf einer Epipolarlinie entsprechend der Gleichung
. Das rektifizierte binokulare
Kamerasystem wird durch seine internen Kameraparameter
CamParamRect1 CamParamRect1 CamParamRect1 CamParamRect1 camParamRect1 cam_param_rect_1
der Kamera 1 und CamParamRect2 CamParamRect2 CamParamRect2 CamParamRect2 camParamRect2 cam_param_rect_2
der
Kamera 2 und die externen Parameter RelPoseRect RelPoseRect RelPoseRect RelPoseRect relPoseRect rel_pose_rect
bestimmt,
welche die Lage des rektifizierte Kamerasystems 2 bezüglich des
rektifizierten Kamerasystems 1 beschreiben. Die Werte für diese
Kameraparameter können von den Operatoren calibrate_cameras calibrate_cameras CalibrateCameras CalibrateCameras CalibrateCameras calibrate_cameras
und gen_binocular_rectification_map gen_binocular_rectification_map GenBinocularRectificationMap GenBinocularRectificationMap GenBinocularRectificationMap gen_binocular_rectification_map
erhalten werden. Der
3D-Punkt wird in den kartesischen Koordinaten
(X X X X x x
,Y Y Y Y y y
,Z Z Z Z z z
) des rektifizierten Kamerasystems
1 zurückgegeben.
Achtung
Stereosysteme, die sowohl Kameras mit hyperzentrischen Objektiven
als auch Kameras ohne hyperzentrische Objektive enthalten, werden nicht
unterstützt.
Ausführungsinformationen
Multithreading-Typ: reentrant (läuft parallel zu nicht-exklusiven Operatoren).
Multithreading-Bereich: global (kann von jedem Thread aufgerufen werden).
Wird ohne Parallelisierung verarbeitet.
Parameter
CamParamRect1 CamParamRect1 CamParamRect1 CamParamRect1 camParamRect1 cam_param_rect_1
(input_control) campar →
HCamPar , HTuple Sequence[Union[int, float, str]] HTuple Htuple (real / integer / string) (double / int / long / string) (double / Hlong / HString) (double / Hlong / char*)
Interne Kameraparameter der Kamera 1.
CamParamRect2 CamParamRect2 CamParamRect2 CamParamRect2 camParamRect2 cam_param_rect_2
(input_control) campar →
HCamPar , HTuple Sequence[Union[int, float, str]] HTuple Htuple (real / integer / string) (double / int / long / string) (double / Hlong / HString) (double / Hlong / char*)
Interne Kameraparameter der Kamera 2.
RelPoseRect RelPoseRect RelPoseRect RelPoseRect relPoseRect rel_pose_rect
(input_control) pose →
HPose , HTuple Sequence[Union[int, float]] HTuple Htuple (real / integer) (double / int / long) (double / Hlong) (double / Hlong)
Lage der zweiten Kamera bzgl. der ersten.
Parameteranzahl: 7
Row1 Row1 Row1 Row1 row1 row_1
(input_control) number(-array) →
HTuple MaybeSequence[Union[int, float]] HTuple Htuple (real / integer) (double / int / long) (double / Hlong) (double / Hlong)
Zeilenkoordinate eines Punktes im rektifizierten
Kamerasystem 1.
Col1 Col1 Col1 Col1 col1 col_1
(input_control) number(-array) →
HTuple MaybeSequence[Union[int, float]] HTuple Htuple (real / integer) (double / int / long) (double / Hlong) (double / Hlong)
Spaltenkoordinate eines Punktes im rektifizierten
Kamerasystem 1.
Disparity Disparity Disparity Disparity disparity disparity
(input_control) number(-array) →
HTuple MaybeSequence[Union[int, float]] HTuple Htuple (real / integer) (double / int / long) (double / Hlong) (double / Hlong)
Disparität zwischen den Punkt-Abbildungen.
X X X X x x
(output_control) real(-array) →
HTuple Sequence[float] HTuple Htuple (real) (double ) (double ) (double )
X Koordinate des Weltpunktes.
Y Y Y Y y y
(output_control) real(-array) →
HTuple Sequence[float] HTuple Htuple (real) (double ) (double ) (double )
Y Koordinate des Weltpunktes.
Z Z Z Z z z
(output_control) real(-array) →
HTuple Sequence[float] HTuple Htuple (real) (double ) (double ) (double )
Z Koordinate des Weltpunktes.
Ergebnis
Sind die Parameterwerte korrekt, dann liefert
disparity_to_point_3d disparity_to_point_3d DisparityToPoint3d DisparityToPoint3d DisparityToPoint3d disparity_to_point_3d
den Wert TRUE.
Vorgänger
binocular_calibration binocular_calibration BinocularCalibration BinocularCalibration BinocularCalibration binocular_calibration
,
gen_binocular_rectification_map gen_binocular_rectification_map GenBinocularRectificationMap GenBinocularRectificationMap GenBinocularRectificationMap gen_binocular_rectification_map
Alternativen
disparity_image_to_xyz disparity_image_to_xyz DisparityImageToXyz DisparityImageToXyz DisparityImageToXyz disparity_image_to_xyz
Siehe auch
binocular_disparity binocular_disparity BinocularDisparity BinocularDisparity BinocularDisparity binocular_disparity
,
binocular_distance binocular_distance BinocularDistance BinocularDistance BinocularDistance binocular_distance
,
intersect_lines_of_sight intersect_lines_of_sight IntersectLinesOfSight IntersectLinesOfSight IntersectLinesOfSight intersect_lines_of_sight
Modul
3D Metrology