Operator Reference

HALCON Operator Reference / 3D Reconstruction / Binocular Stereo
ClassesClasses | | Operators

disparity_image_to_xyzT_disparity_image_to_xyzDisparityImageToXyzDisparityImageToXyzdisparity_image_to_xyz (Operator)

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

Signature

disparity_image_to_xyz(Disparity : X, Y, Z : CamParamRect1, CamParamRect2, RelPoseRect : )

Herror T_disparity_image_to_xyz(const Hobject Disparity, Hobject* X, Hobject* Y, Hobject* Z, const Htuple CamParamRect1, const Htuple CamParamRect2, const Htuple RelPoseRect)

void DisparityImageToXyz(const HObject& Disparity, HObject* X, HObject* Y, HObject* Z, const HTuple& CamParamRect1, const HTuple& CamParamRect2, const HTuple& RelPoseRect)

HImage HImage::DisparityImageToXyz(HImage* Y, HImage* Z, const HCamPar& CamParamRect1, const HCamPar& CamParamRect2, const HPose& RelPoseRect) const

HImage HCamPar::DisparityImageToXyz(const HImage& Disparity, HImage* Y, HImage* Z, const HCamPar& CamParamRect2, const HPose& RelPoseRect) const

HImage HPose::DisparityImageToXyz(const HImage& Disparity, HImage* Y, HImage* Z, const HCamPar& CamParamRect1, const HCamPar& CamParamRect2) const

static void HOperatorSet.DisparityImageToXyz(HObject disparity, out HObject x, out HObject y, out HObject z, HTuple camParamRect1, HTuple camParamRect2, HTuple relPoseRect)

HImage HImage.DisparityImageToXyz(out HImage y, out HImage z, HCamPar camParamRect1, HCamPar camParamRect2, HPose relPoseRect)

HImage HCamPar.DisparityImageToXyz(HImage disparity, out HImage y, out HImage z, HCamPar camParamRect2, HPose relPoseRect)

HImage HPose.DisparityImageToXyz(HImage disparity, out HImage y, out HImage z, HCamPar camParamRect1, HCamPar camParamRect2)

def disparity_image_to_xyz(disparity: 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]]) -> Tuple[HObject, HObject, HObject]

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

DisparityDisparityDisparitydisparitydisparity (input_object)  singlechannelimage(-array) → objectHImageHObjectHObjectHobject (real)

Disparity image.

XXXxx (output_object)  singlechannelimage(-array) → objectHImageHObjectHObjectHobject * (real)

X coordinates of the points in the rectified camera system 1.

YYYyy (output_object)  singlechannelimage(-array) → objectHImageHObjectHObjectHobject * (real)

Y coordinates of the points in the rectified camera system 1.

ZZZzz (output_object)  singlechannelimage(-array) → objectHImageHObjectHObjectHobject * (real)

Z coordinates of the points in the rectified camera system 1.

CamParamRect1CamParamRect1CamParamRect1camParamRect1cam_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.

CamParamRect2CamParamRect2CamParamRect2camParamRect2cam_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.

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

Pose of the rectified camera 2 in relation to the rectified camera 1.

Number of elements: 7

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

ClassesClasses | | Operators