disparity_image_to_xyzT_disparity_image_to_xyzDisparityImageToXyzDisparityImageToXyzdisparity_image_to_xyz (Operator)

Name

disparity_image_to_xyzT_disparity_image_to_xyzDisparityImageToXyzDisparityImageToXyzdisparity_image_to_xyz — Transform a disparity image into 3D points in a rectified stereo system.

Signature

Description

Given the disparity image DisparityDisparityDisparitydisparitydisparity of a rectified binocular stereo system, disparity_image_to_xyzdisparity_image_to_xyzDisparityImageToXyzDisparityImageToXyzdisparity_image_to_xyz computes the corresponding 3D points. Their coordinates relative to the rectified camera 1 are stored as gray values in the images XXXxx, YYYyy, and ZZZzz, i.e., the pixels at the position (Row,Column) in XXXxx, YYYyy, and ZZZzz contain the x, y, and z coordinate, respectively, of the pixel (Row,Column) in the disparity image.

The rectified binocular camera system is specified by its internal camera parameters CamParamRect1CamParamRect1CamParamRect1camParamRect1cam_param_rect_1 of the rectified camera 1 and CamParamRect2CamParamRect2CamParamRect2camParamRect2cam_param_rect_2 of the rectified camera 2, and the external parameters RelPoseRectRelPoseRectRelPoseRectrelPoseRectrel_pose_rect. The latter one is a pose in the form , thus it defines the relative pose of the rectified camera coordinate system 2 (ccsR2) relative to the rectified camera coordinate system 1 (ccsR1) (see Transformations / Poses and “Solution Guide III-C - 3D Vision”). These camera parameters can be obtained from the operators calibrate_camerascalibrate_camerasCalibrateCamerasCalibrateCamerascalibrate_cameras and gen_binocular_rectification_mapgen_binocular_rectification_mapGenBinocularRectificationMapGenBinocularRectificationMapgen_binocular_rectification_map.

Attention

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

Execution Information

• Multithreading type: reentrant (runs in parallel with non-exclusive operators).
• Multithreading scope: global (may be called from any thread).
• Automatically parallelized on tuple level.
• Automatically parallelized on domain level.

Parameters

Example (HDevelop)

disparity_image_to_xyz (ImageDisparity, ImgX, ImgY, ImgZ, RectCamParL, \
                        RectCamParR, RectLPosRectR)
get_region_points (ImageDisparity, Rows, Columns)
get_grayval (ImgX, Rows, Columns, XValues)
get_grayval (ImgY, Rows, Columns, YValues)
get_grayval (ImgZ, Rows, Columns, ZValues)

Result

The operator disparity_image_to_xyzdisparity_image_to_xyzDisparityImageToXyzDisparityImageToXyzdisparity_image_to_xyz returns the value 2 ( H_MSG_TRUE) if the input is not empty. The behavior in case of empty input (no input image available) is set via the operator set_system('no_object_result',<Result>)set_system("no_object_result",<Result>)SetSystem("no_object_result",<Result>)SetSystem("no_object_result",<Result>)set_system("no_object_result",<Result>). The behavior in case of empty region (the region is the empty set) is set via set_system('empty_region_result',<Result>)set_system("empty_region_result",<Result>)SetSystem("empty_region_result",<Result>)SetSystem("empty_region_result",<Result>)set_system("empty_region_result",<Result>). If necessary an exception is raised.

Possible Predecessors

binocular_disparitybinocular_disparityBinocularDisparityBinocularDisparitybinocular_disparity

Possible Successors

thresholdthresholdThresholdThresholdthreshold, write_imagewrite_imageWriteImageWriteImagewrite_image

Alternatives

disparity_to_point_3ddisparity_to_point_3dDisparityToPoint3dDisparityToPoint3ddisparity_to_point_3d, binocular_distancebinocular_distanceBinocularDistanceBinocularDistancebinocular_distance

See also

binocular_calibrationbinocular_calibrationBinocularCalibrationBinocularCalibrationbinocular_calibration, gen_binocular_rectification_mapgen_binocular_rectification_mapGenBinocularRectificationMapGenBinocularRectificationMapgen_binocular_rectification_map, intersect_lines_of_sightintersect_lines_of_sightIntersectLinesOfSightIntersectLinesOfSightintersect_lines_of_sight

Module

3D Metrology