binocular_distance_msT_binocular_distance_msBinocularDistanceMsBinocularDistanceMsbinocular_distance_ms (Operator)

Name

binocular_distance_msT_binocular_distance_msBinocularDistanceMsBinocularDistanceMsbinocular_distance_ms — Compute the distance values for a rectified stereo image pair using multi-scanline optimization.

Signature

binocular_distance_ms(ImageRect1, ImageRect2 : Distance, Score : CamParamRect1, CamParamRect2, RelPoseRect, MinDisparity, MaxDisparity, SurfaceSmoothing, EdgeSmoothing, GenParamName, GenParamValue : )

Herror T_binocular_distance_ms(const Hobject ImageRect1, const Hobject ImageRect2, Hobject* Distance, Hobject* Score, const Htuple CamParamRect1, const Htuple CamParamRect2, const Htuple RelPoseRect, const Htuple MinDisparity, const Htuple MaxDisparity, const Htuple SurfaceSmoothing, const Htuple EdgeSmoothing, const Htuple GenParamName, const Htuple GenParamValue)

void BinocularDistanceMs(const HObject& ImageRect1, const HObject& ImageRect2, HObject* Distance, HObject* Score, const HTuple& CamParamRect1, const HTuple& CamParamRect2, const HTuple& RelPoseRect, const HTuple& MinDisparity, const HTuple& MaxDisparity, const HTuple& SurfaceSmoothing, const HTuple& EdgeSmoothing, const HTuple& GenParamName, const HTuple& GenParamValue)

HImage HImage::BinocularDistanceMs(const HImage& ImageRect2, HImage* Score, const HCamPar& CamParamRect1, const HCamPar& CamParamRect2, const HPose& RelPoseRect, Hlong MinDisparity, Hlong MaxDisparity, Hlong SurfaceSmoothing, Hlong EdgeSmoothing, const HTuple& GenParamName, const HTuple& GenParamValue) const

HImage HImage::BinocularDistanceMs(const HImage& ImageRect2, HImage* Score, const HCamPar& CamParamRect1, const HCamPar& CamParamRect2, const HPose& RelPoseRect, Hlong MinDisparity, Hlong MaxDisparity, Hlong SurfaceSmoothing, Hlong EdgeSmoothing, const HString& GenParamName, const HString& GenParamValue) const

HImage HImage::BinocularDistanceMs(const HImage& ImageRect2, HImage* Score, const HCamPar& CamParamRect1, const HCamPar& CamParamRect2, const HPose& RelPoseRect, Hlong MinDisparity, Hlong MaxDisparity, Hlong SurfaceSmoothing, Hlong EdgeSmoothing, const char* GenParamName, const char* GenParamValue) const

HImage HImage::BinocularDistanceMs(const HImage& ImageRect2, HImage* Score, const HCamPar& CamParamRect1, const HCamPar& CamParamRect2, const HPose& RelPoseRect, Hlong MinDisparity, Hlong MaxDisparity, Hlong SurfaceSmoothing, Hlong EdgeSmoothing, const wchar_t* GenParamName, const wchar_t* GenParamValue) const   (Windows only)

HImage HCamPar::BinocularDistanceMs(const HImage& ImageRect1, const HImage& ImageRect2, HImage* Score, const HCamPar& CamParamRect2, const HPose& RelPoseRect, Hlong MinDisparity, Hlong MaxDisparity, Hlong SurfaceSmoothing, Hlong EdgeSmoothing, const HTuple& GenParamName, const HTuple& GenParamValue) const

HImage HCamPar::BinocularDistanceMs(const HImage& ImageRect1, const HImage& ImageRect2, HImage* Score, const HCamPar& CamParamRect2, const HPose& RelPoseRect, Hlong MinDisparity, Hlong MaxDisparity, Hlong SurfaceSmoothing, Hlong EdgeSmoothing, const HString& GenParamName, const HString& GenParamValue) const

HImage HCamPar::BinocularDistanceMs(const HImage& ImageRect1, const HImage& ImageRect2, HImage* Score, const HCamPar& CamParamRect2, const HPose& RelPoseRect, Hlong MinDisparity, Hlong MaxDisparity, Hlong SurfaceSmoothing, Hlong EdgeSmoothing, const char* GenParamName, const char* GenParamValue) const

HImage HCamPar::BinocularDistanceMs(const HImage& ImageRect1, const HImage& ImageRect2, HImage* Score, const HCamPar& CamParamRect2, const HPose& RelPoseRect, Hlong MinDisparity, Hlong MaxDisparity, Hlong SurfaceSmoothing, Hlong EdgeSmoothing, const wchar_t* GenParamName, const wchar_t* GenParamValue) const   (Windows only)

HImage HPose::BinocularDistanceMs(const HImage& ImageRect1, const HImage& ImageRect2, HImage* Score, const HCamPar& CamParamRect1, const HCamPar& CamParamRect2, Hlong MinDisparity, Hlong MaxDisparity, Hlong SurfaceSmoothing, Hlong EdgeSmoothing, const HTuple& GenParamName, const HTuple& GenParamValue) const

HImage HPose::BinocularDistanceMs(const HImage& ImageRect1, const HImage& ImageRect2, HImage* Score, const HCamPar& CamParamRect1, const HCamPar& CamParamRect2, Hlong MinDisparity, Hlong MaxDisparity, Hlong SurfaceSmoothing, Hlong EdgeSmoothing, const HString& GenParamName, const HString& GenParamValue) const

HImage HPose::BinocularDistanceMs(const HImage& ImageRect1, const HImage& ImageRect2, HImage* Score, const HCamPar& CamParamRect1, const HCamPar& CamParamRect2, Hlong MinDisparity, Hlong MaxDisparity, Hlong SurfaceSmoothing, Hlong EdgeSmoothing, const char* GenParamName, const char* GenParamValue) const

HImage HPose::BinocularDistanceMs(const HImage& ImageRect1, const HImage& ImageRect2, HImage* Score, const HCamPar& CamParamRect1, const HCamPar& CamParamRect2, Hlong MinDisparity, Hlong MaxDisparity, Hlong SurfaceSmoothing, Hlong EdgeSmoothing, const wchar_t* GenParamName, const wchar_t* GenParamValue) const   (Windows only)

static void HOperatorSet.BinocularDistanceMs(HObject imageRect1, HObject imageRect2, out HObject distance, out HObject score, HTuple camParamRect1, HTuple camParamRect2, HTuple relPoseRect, HTuple minDisparity, HTuple maxDisparity, HTuple surfaceSmoothing, HTuple edgeSmoothing, HTuple genParamName, HTuple genParamValue)

HImage HImage.BinocularDistanceMs(HImage imageRect2, out HImage score, HCamPar camParamRect1, HCamPar camParamRect2, HPose relPoseRect, int minDisparity, int maxDisparity, int surfaceSmoothing, int edgeSmoothing, HTuple genParamName, HTuple genParamValue)

HImage HImage.BinocularDistanceMs(HImage imageRect2, out HImage score, HCamPar camParamRect1, HCamPar camParamRect2, HPose relPoseRect, int minDisparity, int maxDisparity, int surfaceSmoothing, int edgeSmoothing, string genParamName, string genParamValue)

HImage HCamPar.BinocularDistanceMs(HImage imageRect1, HImage imageRect2, out HImage score, HCamPar camParamRect2, HPose relPoseRect, int minDisparity, int maxDisparity, int surfaceSmoothing, int edgeSmoothing, HTuple genParamName, HTuple genParamValue)

HImage HCamPar.BinocularDistanceMs(HImage imageRect1, HImage imageRect2, out HImage score, HCamPar camParamRect2, HPose relPoseRect, int minDisparity, int maxDisparity, int surfaceSmoothing, int edgeSmoothing, string genParamName, string genParamValue)

HImage HPose.BinocularDistanceMs(HImage imageRect1, HImage imageRect2, out HImage score, HCamPar camParamRect1, HCamPar camParamRect2, int minDisparity, int maxDisparity, int surfaceSmoothing, int edgeSmoothing, HTuple genParamName, HTuple genParamValue)

HImage HPose.BinocularDistanceMs(HImage imageRect1, HImage imageRect2, out HImage score, HCamPar camParamRect1, HCamPar camParamRect2, int minDisparity, int maxDisparity, int surfaceSmoothing, int edgeSmoothing, string genParamName, string genParamValue)

def binocular_distance_ms(image_rect_1: HObject, image_rect_2: HObject, 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]], min_disparity: int, max_disparity: int, surface_smoothing: int, edge_smoothing: int, gen_param_name: MaybeSequence[str], gen_param_value: MaybeSequence[Union[str, int]]) -> Tuple[HObject, HObject]

Description

binocular_distance_msbinocular_distance_msBinocularDistanceMsBinocularDistanceMsBinocularDistanceMsbinocular_distance_ms computes the distance values for a rectified stereo image pair using multi-scanline optimization. The operator first calculates the disparities between two rectified images ImageRect1ImageRect1ImageRect1ImageRect1imageRect1image_rect_1 and ImageRect2ImageRect2ImageRect2ImageRect2imageRect2image_rect_2 similar to binocular_disparity_msbinocular_disparity_msBinocularDisparityMsBinocularDisparityMsBinocularDisparityMsbinocular_disparity_ms. The resulting disparity values are then transformed into distance values of the corresponding 3D world points to the rectified stereo camera system as in disparity_to_distancedisparity_to_distanceDisparityToDistanceDisparityToDistanceDisparityToDistancedisparity_to_distance. The distances are returned in the single-channel image DistanceDistanceDistanceDistancedistancedistance in which each gray value represents the distance of the respective 3D world point to the stereo camera system.

binocular_disparity_msbinocular_disparity_msBinocularDisparityMsBinocularDisparityMsBinocularDisparityMsbinocular_disparity_ms requires a reference image ImageRect1ImageRect1ImageRect1ImageRect1imageRect1image_rect_1 and a search image ImageRect2ImageRect2ImageRect2ImageRect2imageRect2image_rect_2 which both must be rectified, i.e., corresponding pixels must have the same row coordinate. If this assumption is violated, the images can be rectified by using the operators calibrate_camerascalibrate_camerasCalibrateCamerasCalibrateCamerasCalibrateCamerascalibrate_cameras, gen_binocular_rectification_mapgen_binocular_rectification_mapGenBinocularRectificationMapGenBinocularRectificationMapGenBinocularRectificationMapgen_binocular_rectification_map, and map_imagemap_imageMapImageMapImageMapImagemap_image.

For the transformation of the disparity to the distance, the internal camera parameters of the rectified camera 1 CamParamRect1CamParamRect1CamParamRect1CamParamRect1camParamRect1cam_param_rect_1 and of the rectified camera 2 CamParamRect2CamParamRect2CamParamRect2CamParamRect2camParamRect2cam_param_rect_2, as well as the relative pose of the cameras RelPoseRectRelPoseRectRelPoseRectRelPoseRectrelPoseRectrel_pose_rect must be specified. The relative pose defines a point transformation from the rectified camera system 2 to the rectified camera system 1. These parameters can be obtained from the operators calibrate_camerascalibrate_camerasCalibrateCamerasCalibrateCamerasCalibrateCamerascalibrate_cameras and gen_binocular_rectification_mapgen_binocular_rectification_mapGenBinocularRectificationMapGenBinocularRectificationMapGenBinocularRectificationMapgen_binocular_rectification_map.

A detailed description of the remaining parameters can be found in the documentation of binocular_disparity_msbinocular_disparity_msBinocularDisparityMsBinocularDisparityMsBinocularDisparityMsbinocular_disparity_ms.

Attention

If using cameras with telecentric lenses, the DistanceDistanceDistanceDistancedistancedistance is not defined as the distance of a point to the camera but as the distance from the point to the plane, defined by the y-axes of both cameras and their baseline (see gen_binocular_rectification_mapgen_binocular_rectification_mapGenBinocularRectificationMapGenBinocularRectificationMapGenBinocularRectificationMapgen_binocular_rectification_map).

For a stereo setup of mixed type (i.e., for a stereo setup in which one of the original cameras is a perspective camera and the other camera is a telecentric camera; see gen_binocular_rectification_mapgen_binocular_rectification_mapGenBinocularRectificationMapGenBinocularRectificationMapGenBinocularRectificationMapgen_binocular_rectification_map), the rectifying plane of the two cameras is in a position with respect to the object that would lead to very unintuitive distances. Therefore, binocular_distance_msbinocular_distance_msBinocularDistanceMsBinocularDistanceMsBinocularDistanceMsbinocular_distance_ms does not support a stereo setup of mixed type. For stereo setups of mixed type, please use reconstruct_surface_stereoreconstruct_surface_stereoReconstructSurfaceStereoReconstructSurfaceStereoReconstructSurfaceStereoreconstruct_surface_stereo, in which the reference coordinate system can be chosen arbitrarily. Alternatively, binocular_disparity_msbinocular_disparity_msBinocularDisparityMsBinocularDisparityMsBinocularDisparityMsbinocular_disparity_ms and disparity_image_to_xyzdisparity_image_to_xyzDisparityImageToXyzDisparityImageToXyzDisparityImageToXyzdisparity_image_to_xyz might be used.

Additionally, stereo setups that contain cameras with and without hypercentric lenses at the same time are not supported.

Execution Information

Parameters

ImageRect1ImageRect1ImageRect1ImageRect1imageRect1image_rect_1 (input_object)  singlechannelimage objectHImageHObjectHImageHobject (byte*) *allowed for compute devices

Rectified image of camera 1.

ImageRect2ImageRect2ImageRect2ImageRect2imageRect2image_rect_2 (input_object)  singlechannelimage objectHImageHObjectHImageHobject (byte*) *allowed for compute devices

Rectified image of camera 2.

DistanceDistanceDistanceDistancedistancedistance (output_object)  singlechannelimage objectHImageHObjectHImageHobject * (real)

Distance image.

ScoreScoreScoreScorescorescore (output_object)  singlechannelimage objectHImageHObjectHImageHobject * (real)

Score of the calculated disparity.

CamParamRect1CamParamRect1CamParamRect1CamParamRect1camParamRect1cam_param_rect_1 (input_control)  campar HCamPar, HTupleSequence[Union[int, float, str]]HTupleHtuple (real / integer / string) (double / int / long / string) (double / Hlong / HString) (double / Hlong / char*)

Internal camera parameters of the rectified camera 1.

CamParamRect2CamParamRect2CamParamRect2CamParamRect2camParamRect2cam_param_rect_2 (input_control)  campar HCamPar, HTupleSequence[Union[int, float, str]]HTupleHtuple (real / integer / string) (double / int / long / string) (double / Hlong / HString) (double / Hlong / char*)

Internal camera parameters of the rectified camera 2.

RelPoseRectRelPoseRectRelPoseRectRelPoseRectrelPoseRectrel_pose_rect (input_control)  pose HPose, HTupleSequence[Union[int, float]]HTupleHtuple (real / integer) (double / int / long) (double / Hlong) (double / Hlong)

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

Number of elements: 7

MinDisparityMinDisparityMinDisparityMinDisparityminDisparitymin_disparity (input_control)  integer HTupleintHTupleHtuple (integer) (int / long) (Hlong) (Hlong)

Minimum of the expected disparities.

Default value: -30

Typical range of values: -32768 ≤ MinDisparity MinDisparity MinDisparity MinDisparity minDisparity min_disparity ≤ 32767

MaxDisparityMaxDisparityMaxDisparityMaxDisparitymaxDisparitymax_disparity (input_control)  integer HTupleintHTupleHtuple (integer) (int / long) (Hlong) (Hlong)

Maximum of the expected disparities.

Default value: 30

Typical range of values: -32768 ≤ MaxDisparity MaxDisparity MaxDisparity MaxDisparity maxDisparity max_disparity ≤ 32767

Restriction: MinDisparity <= MaxDisparity

SurfaceSmoothingSurfaceSmoothingSurfaceSmoothingSurfaceSmoothingsurfaceSmoothingsurface_smoothing (input_control)  integer HTupleintHTupleHtuple (integer) (int / long) (Hlong) (Hlong)

Smoothing of surfaces.

Default value: 50

Suggested values: 20, 50, 100

Restriction: SurfaceSmoothing >= 0

EdgeSmoothingEdgeSmoothingEdgeSmoothingEdgeSmoothingedgeSmoothingedge_smoothing (input_control)  integer HTupleintHTupleHtuple (integer) (int / long) (Hlong) (Hlong)

Smoothing of edges.

Default value: 50

Suggested values: 20, 50, 100

Restriction: EdgeSmoothing >= 0

GenParamNameGenParamNameGenParamNameGenParamNamegenParamNamegen_param_name (input_control)  attribute.name(-array) HTupleMaybeSequence[str]HTupleHtuple (string) (string) (HString) (char*)

Parameter name(s) for the multi-scanline algorithm.

Default value: []

List of values: 'consistency_check'"consistency_check""consistency_check""consistency_check""consistency_check""consistency_check", 'disparity_offset'"disparity_offset""disparity_offset""disparity_offset""disparity_offset""disparity_offset", 'num_levels'"num_levels""num_levels""num_levels""num_levels""num_levels", 'similarity_measure'"similarity_measure""similarity_measure""similarity_measure""similarity_measure""similarity_measure", 'sub_disparity'"sub_disparity""sub_disparity""sub_disparity""sub_disparity""sub_disparity"

GenParamValueGenParamValueGenParamValueGenParamValuegenParamValuegen_param_value (input_control)  attribute.value(-array) HTupleMaybeSequence[Union[str, int]]HTupleHtuple (string / integer) (string / int / long) (HString / Hlong) (char* / Hlong)

Parameter value(s) for the multi-scanline algorithm.

Default value: []

Suggested values: 'census_dense'"census_dense""census_dense""census_dense""census_dense""census_dense", 'census_sparse'"census_sparse""census_sparse""census_sparse""census_sparse""census_sparse", 'true'"true""true""true""true""true", 'false'"false""false""false""false""false"

Result

If the parameter values are correct, binocular_distance_msbinocular_distance_msBinocularDistanceMsBinocularDistanceMsBinocularDistanceMsbinocular_distance_ms returns the value TRUE. If the input is empty (no input images are available) the behavior can be set via set_system('no_object_result',<Result>)set_system("no_object_result",<Result>)SetSystem("no_object_result",<Result>)SetSystem("no_object_result",<Result>)SetSystem("no_object_result",<Result>)set_system("no_object_result",<Result>). If necessary, an exception is raised.

Possible Predecessors

map_imagemap_imageMapImageMapImageMapImagemap_image

Possible Successors

thresholdthresholdThresholdThresholdThresholdthreshold

Alternatives

binocular_distancebinocular_distanceBinocularDistanceBinocularDistanceBinocularDistancebinocular_distance, binocular_distance_mgbinocular_distance_mgBinocularDistanceMgBinocularDistanceMgBinocularDistanceMgbinocular_distance_mg, binocular_disparitybinocular_disparityBinocularDisparityBinocularDisparityBinocularDisparitybinocular_disparity, binocular_disparity_mgbinocular_disparity_mgBinocularDisparityMgBinocularDisparityMgBinocularDisparityMgbinocular_disparity_mg, binocular_disparity_msbinocular_disparity_msBinocularDisparityMsBinocularDisparityMsBinocularDisparityMsbinocular_disparity_ms

See also

map_imagemap_imageMapImageMapImageMapImagemap_image, gen_binocular_rectification_mapgen_binocular_rectification_mapGenBinocularRectificationMapGenBinocularRectificationMapGenBinocularRectificationMapgen_binocular_rectification_map, binocular_calibrationbinocular_calibrationBinocularCalibrationBinocularCalibrationBinocularCalibrationbinocular_calibration, disparity_to_distancedisparity_to_distanceDisparityToDistanceDisparityToDistanceDisparityToDistancedisparity_to_distance, distance_to_disparitydistance_to_disparityDistanceToDisparityDistanceToDisparityDistanceToDisparitydistance_to_disparity, disparity_image_to_xyzdisparity_image_to_xyzDisparityImageToXyzDisparityImageToXyzDisparityImageToXyzdisparity_image_to_xyz

Module

3D Metrology