Operator Reference

HALCON Operator Reference / 3D Reconstruction / Binocular Stereo

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intersect_lines_of_sightT_intersect_lines_of_sightIntersectLinesOfSightIntersectLinesOfSightintersect_lines_of_sight (Operator)

intersect_lines_of_sightT_intersect_lines_of_sightIntersectLinesOfSightIntersectLinesOfSightintersect_lines_of_sight — Get a 3D point from the intersection of two lines of sight within a binocular camera system.

Signature

intersect_lines_of_sight( : : CamParam1, CamParam2, RelPose, Row1, Col1, Row2, Col2 : X, Y, Z, Dist)

Herror T_intersect_lines_of_sight(const Htuple CamParam1, const Htuple CamParam2, const Htuple RelPose, const Htuple Row1, const Htuple Col1, const Htuple Row2, const Htuple Col2, Htuple* X, Htuple* Y, Htuple* Z, Htuple* Dist)

void IntersectLinesOfSight(const HTuple& CamParam1, const HTuple& CamParam2, const HTuple& RelPose, const HTuple& Row1, const HTuple& Col1, const HTuple& Row2, const HTuple& Col2, HTuple* X, HTuple* Y, HTuple* Z, HTuple* Dist)

void HCamPar::IntersectLinesOfSight(const HCamPar& CamParam2, const HPose& RelPose, const HTuple& Row1, const HTuple& Col1, const HTuple& Row2, const HTuple& Col2, HTuple* X, HTuple* Y, HTuple* Z, HTuple* Dist) const

void HCamPar::IntersectLinesOfSight(const HCamPar& CamParam2, const HPose& RelPose, double Row1, double Col1, double Row2, double Col2, double* X, double* Y, double* Z, double* Dist) const

void HPose::IntersectLinesOfSight(const HCamPar& CamParam1, const HCamPar& CamParam2, const HTuple& Row1, const HTuple& Col1, const HTuple& Row2, const HTuple& Col2, HTuple* X, HTuple* Y, HTuple* Z, HTuple* Dist) const

void HPose::IntersectLinesOfSight(const HCamPar& CamParam1, const HCamPar& CamParam2, double Row1, double Col1, double Row2, double Col2, double* X, double* Y, double* Z, double* Dist) const

static void HOperatorSet.IntersectLinesOfSight(HTuple camParam1, HTuple camParam2, HTuple relPose, HTuple row1, HTuple col1, HTuple row2, HTuple col2, out HTuple x, out HTuple y, out HTuple z, out HTuple dist)

void HCamPar.IntersectLinesOfSight(HCamPar camParam2, HPose relPose, HTuple row1, HTuple col1, HTuple row2, HTuple col2, out HTuple x, out HTuple y, out HTuple z, out HTuple dist)

void HCamPar.IntersectLinesOfSight(HCamPar camParam2, HPose relPose, double row1, double col1, double row2, double col2, out double x, out double y, out double z, out double dist)

void HPose.IntersectLinesOfSight(HCamPar camParam1, HCamPar camParam2, HTuple row1, HTuple col1, HTuple row2, HTuple col2, out HTuple x, out HTuple y, out HTuple z, out HTuple dist)

void HPose.IntersectLinesOfSight(HCamPar camParam1, HCamPar camParam2, double row1, double col1, double row2, double col2, out double x, out double y, out double z, out double dist)

def intersect_lines_of_sight(cam_param_1: Sequence[Union[int, float, str]], cam_param_2: Sequence[Union[int, float, str]], rel_pose: Sequence[Union[int, float]], row_1: MaybeSequence[Union[int, float]], col_1: MaybeSequence[Union[int, float]], row_2: MaybeSequence[Union[int, float]], col_2: MaybeSequence[Union[int, float]]) -> Tuple[Sequence[float], Sequence[float], Sequence[float], Sequence[float]]

def intersect_lines_of_sight_s(cam_param_1: Sequence[Union[int, float, str]], cam_param_2: Sequence[Union[int, float, str]], rel_pose: Sequence[Union[int, float]], row_1: MaybeSequence[Union[int, float]], col_1: MaybeSequence[Union[int, float]], row_2: MaybeSequence[Union[int, float]], col_2: MaybeSequence[Union[int, float]]) -> Tuple[float, float, float, float]

Description

Given two lines of sight from different cameras, specified by their image points (Row1Row1Row1row1row_1,Col1Col1Col1col1col_1) of camera 1 and (Row2Row2Row2row2row_2,Col2Col2Col2col2col_2) of camera 2, intersect_lines_of_sightintersect_lines_of_sightIntersectLinesOfSightIntersectLinesOfSightintersect_lines_of_sight computes the 3D point of intersection of these lines. The binocular camera system is specified by its internal camera parameters CamParam1CamParam1CamParam1camParam1cam_param_1 of the projective camera 1 and CamParam2CamParam2CamParam2camParam2cam_param_2 of the projective camera 2, and the external parameters RelPoseRelPoseRelPoserelPoserel_pose. Latter one is of the form and characterizes the relative pose of both cameras to each other, thus defining a point transformation from camera coordinate system 2 (ccs2) into camera coordinate system 1 (ccs1), see Transformations / Poses and “Solution Guide III-C - 3D Vision”. These camera parameters can be obtained, e.g., from the operator calibrate_camerascalibrate_camerasCalibrateCamerasCalibrateCamerascalibrate_cameras, if the coordinates of the image points (Row1Row1Row1row1row_1,Col1Col1Col1col1col_1) and (Row2Row2Row2row2row_2,Col2Col2Col2col2col_2) refer to the respective original image coordinate system. In case of rectified image coordinates ( e.g., obtained from rectified images), the rectified camera parameters must be passed, as they are returned by the operator gen_binocular_rectification_mapgen_binocular_rectification_mapGenBinocularRectificationMapGenBinocularRectificationMapgen_binocular_rectification_map. The 'point of intersection' is defined by the point with the shortest distance to both lines of sight. This point is returned in Cartesian coordinates (XXXxx,YYYyy,ZZZzz) of camera system 1 and its distance to the lines of sight is passed in DistDistDistdistdist.

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).
• Processed without parallelization.

Parameters

CamParam1CamParam1CamParam1camParam1cam_param_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 parameters of the projective camera 1.

CamParam2CamParam2CamParam2camParam2cam_param_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 parameters of the projective camera 2.

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

Point transformation from camera 2 to camera 1.

Number of elements: 7

Row1Row1Row1row1row_1 (input_control)  number(-array) → HTupleMaybeSequence[Union[int, float]]HTupleHtuple (real / integer) (double / int / long) (double / Hlong) (double / Hlong)

Row coordinate of a point in image 1.

Col1Col1Col1col1col_1 (input_control)  number(-array) → HTupleMaybeSequence[Union[int, float]]HTupleHtuple (real / integer) (double / int / long) (double / Hlong) (double / Hlong)

Column coordinate of a point in image 1.

Row2Row2Row2row2row_2 (input_control)  number(-array) → HTupleMaybeSequence[Union[int, float]]HTupleHtuple (real / integer) (double / int / long) (double / Hlong) (double / Hlong)

Row coordinate of the corresponding point in image 2.

Col2Col2Col2col2col_2 (input_control)  number(-array) → HTupleMaybeSequence[Union[int, float]]HTupleHtuple (real / integer) (double / int / long) (double / Hlong) (double / Hlong)

Column coordinate of the corresponding point in image 2.

XXXxx (output_control)  real(-array) → HTupleSequence[float]HTupleHtuple (real) (double) (double) (double)

X coordinate of the 3D point.

YYYyy (output_control)  real(-array) → HTupleSequence[float]HTupleHtuple (real) (double) (double) (double)

Y coordinate of the 3D point.

ZZZzz (output_control)  real(-array) → HTupleSequence[float]HTupleHtuple (real) (double) (double) (double)

Z coordinate of the 3D point.

DistDistDistdistdist (output_control)  real(-array) → HTupleSequence[float]HTupleHtuple (real) (double) (double) (double)

Distance of the 3D point to the lines of sight.

Result

intersect_lines_of_sightintersect_lines_of_sightIntersectLinesOfSightIntersectLinesOfSightintersect_lines_of_sight returns 2 ( H_MSG_TRUE) if all parameter values are correct. If necessary, an exception is raised.

Possible Predecessors

binocular_calibrationbinocular_calibrationBinocularCalibrationBinocularCalibrationbinocular_calibration

See also

disparity_to_point_3ddisparity_to_point_3dDisparityToPoint3dDisparityToPoint3ddisparity_to_point_3d

Module

3D Metrology

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