Operator Reference
reconstruct_surface_structured_light (Operator)
reconstruct_surface_structured_light — Reconstruct a surface from a decoded structured light setup.
Signature
reconstruct_surface_structured_light( : : StructuredLightModel : ObjectModel3D)
Description
reconstruct_surface_structured_light reconstructs a surface from
a structured light setup. Prior to reconstruction,
for every projected pattern image, a camera image of the projection
on the surface is acquired.
For an explanation of the concept of structured light and its supported
applications, see the introduction of chapter
Inspection / Structured Light.
The reconstructed surface is stored in the handle ObjectModel3D.
Reconstruction is possible for non-specular surfaces, using a projector
projecting light like an 'inverse camera'. In
create_structured_light_model, the type of the model must have been
set to '3d_reconstruction'.
The reconstruction process uses the vertical decoded correspondence between projector coordinates lighting the camera coordinates, as well as calibration information:
decode_structured_light_pattern must be called before
reconstruct_surface_structured_light, storing the correspondence image
between the projector coordinates and the camera coordinates
in the model StructuredLightModel, i. e. for
each camera pixel which projector pixel lighted (i.e. encoded) the observed
point on the surface.
reconstruct_surface_structured_light uses the vertical correspondence
image, so the parameter 'pattern_orientation' of
set_structured_light_model_param must have been set to
'vertical' or 'both'. Note that in most cases
'vertical' should be chosen for speed, since fewer images are
necessary than for 'both'.
For setting the calibration information, please refer to the parameter
'camera_setup_model' of set_structured_light_model_param.
The reconstruction is performed only within the domain of the correspondence
image. Reducing the domain of the input images of
decode_structured_light_pattern (e.g., with reduce_domain)
can be used to obtain a reduced reconstructed surface, i. e. for shorter
runtime or to reduce noise.
The resulting ObjectModel3D contains a mapping, so the
coordinate images can be obtained by object_model_3d_to_xyz using
'from_xyz_map'.
Pixels for which no reconstruction was possible are excluded from its domain.
Execution Information
- Multithreading type: reentrant (runs in parallel with non-exclusive operators).
- Multithreading scope: global (may be called from any thread).
- Automatically parallelized on internal data level.
This operator returns a handle. Note that the state of an instance of this handle type may be changed by specific operators even though the handle is used as an input parameter by those operators.
Parameters
StructuredLightModel (input_control) structured_light_model → (handle)
Handle of the structured light model.
ObjectModel3D (output_control) object_model_3d → (handle)
Handle of the 3D object model.
Example (HDevelop)
* Set the calibration information
set_structured_light_model_param (StructuredLightModel, \
'camera_setup_model', CameraSetupModelID)
* Decode the camera images
decode_structured_light_pattern (CameraImages, StructuredLightModel)
* Reconstruct the surface
reconstruct_surface_structured_light (StructuredLightModel, ObjectModel3D)
Result
The operator reconstruct_surface_structured_light returns the
value 2 (
H_MSG_TRUE)
if the given parameters are valid. Otherwise, an exception will be
raised.
Possible Predecessors
decode_structured_light_pattern
Possible Successors
See also
create_structured_light_model,
set_structured_light_model_param
Module
3D Metrology