Operator Reference

HALCON Operator Reference / 3D Reconstruction / Multi-View Stereo

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set_stereo_model_image_pairsT_set_stereo_model_image_pairsSetStereoModelImagePairsSetStereoModelImagePairsset_stereo_model_image_pairs (Operator)

set_stereo_model_image_pairsT_set_stereo_model_image_pairsSetStereoModelImagePairsSetStereoModelImagePairsset_stereo_model_image_pairs — Specify image pairs to be used for surface stereo reconstruction.

Signature

set_stereo_model_image_pairs( : : StereoModelID, From, To : )

Herror T_set_stereo_model_image_pairs(const Htuple StereoModelID, const Htuple From, const Htuple To)

void SetStereoModelImagePairs(const HTuple& StereoModelID, const HTuple& From, const HTuple& To)

void HStereoModel::SetStereoModelImagePairs(const HTuple& From, const HTuple& To) const

static void HOperatorSet.SetStereoModelImagePairs(HTuple stereoModelID, HTuple from, HTuple to)

void HStereoModel.SetStereoModelImagePairs(HTuple from, HTuple to)

def set_stereo_model_image_pairs(stereo_model_id: HHandle, from_val: Sequence[int], to: Sequence[int]) -> None

Description

The operator set_stereo_model_image_pairsset_stereo_model_image_pairsSetStereoModelImagePairsSetStereoModelImagePairsset_stereo_model_image_pairs stores a list of image pairs for a stereo model StereoModelIDStereoModelIDStereoModelIDstereoModelIDstereo_model_id of type 'surface_pairwise'"surface_pairwise""surface_pairwise""surface_pairwise""surface_pairwise" or 'surface_fusion'"surface_fusion""surface_fusion""surface_fusion""surface_fusion". Calling the operator for a model of another type will raise an error. In the mode 'surface_pairwise'"surface_pairwise""surface_pairwise""surface_pairwise""surface_pairwise" or 'surface_fusion'"surface_fusion""surface_fusion""surface_fusion""surface_fusion", surfaces are reconstructed by computing disparity images for image pairs. You specify these image pairs by passing tuples of camera indices in the parameters FromFromFromfromfrom and ToToTototo. Then, e.g., the disparity image from the camera with index From[0] to the camera with index To[0] is computed and so on.

The camera indices must be valid for the camera setup model assigned to the stereo model (see create_stereo_modelcreate_stereo_modelCreateStereoModelCreateStereoModelcreate_stereo_model), otherwise an error is returned. If an image pairs list already exists in the stereo model, it is substituted by the current one.

Besides storing the list of image pairs, the operator set_stereo_model_image_pairsset_stereo_model_image_pairsSetStereoModelImagePairsSetStereoModelImagePairsset_stereo_model_image_pairs prepares a pair of rectification image maps for each image pair, which are used repeatedly in successive calls to reconstruct_surface_stereoreconstruct_surface_stereoReconstructSurfaceStereoReconstructSurfaceStereoreconstruct_surface_stereo to rectify the images to a normalized binocular stereo pair; refer to gen_binocular_rectification_mapgen_binocular_rectification_mapGenBinocularRectificationMapGenBinocularRectificationMapgen_binocular_rectification_map for further details. Three of the gen_binocular_rectification_mapgen_binocular_rectification_mapGenBinocularRectificationMapGenBinocularRectificationMapgen_binocular_rectification_map parameters are exported as stereo model parameters and can be modified by set_stereo_model_paramset_stereo_model_paramSetStereoModelParamSetStereoModelParamset_stereo_model_param or just inspected by get_stereo_model_paramget_stereo_model_paramGetStereoModelParamGetStereoModelParamget_stereo_model_param:

'rectif_interpolation'"rectif_interpolation""rectif_interpolation""rectif_interpolation""rectif_interpolation":

Interpolation mode corresponding to the parameter MapTypeMapTypeMapTypemapTypemap_type of gen_binocular_rectification_mapgen_binocular_rectification_mapGenBinocularRectificationMapGenBinocularRectificationMapgen_binocular_rectification_map.

'rectif_sub_sampling'"rectif_sub_sampling""rectif_sub_sampling""rectif_sub_sampling""rectif_sub_sampling":

sub-sampling factor corresponding to the parameter SubSamplingSubSamplingSubSamplingsubSamplingsub_sampling of gen_binocular_rectification_mapgen_binocular_rectification_mapGenBinocularRectificationMapGenBinocularRectificationMapgen_binocular_rectification_map.

'rectif_method'"rectif_method""rectif_method""rectif_method""rectif_method":

Rectification method corresponding to the parameter MethodMethodMethodmethodmethod of gen_binocular_rectification_mapgen_binocular_rectification_mapGenBinocularRectificationMapGenBinocularRectificationMapgen_binocular_rectification_map.

Note that after modifying these parameters, set_stereo_model_image_pairsset_stereo_model_image_pairsSetStereoModelImagePairsSetStereoModelImagePairsset_stereo_model_image_pairs must be executed again for the changes to take effect.

The current list of image pairs in the model can be inspected by get_stereo_model_image_pairsget_stereo_model_image_pairsGetStereoModelImagePairsGetStereoModelImagePairsget_stereo_model_image_pairs.

Execution Information

• Multithreading type: reentrant (runs in parallel with non-exclusive operators).
• Multithreading scope: global (may be called from any thread).
• Processed without parallelization.

This operator modifies the state of the following input parameter:

• StereoModelIDStereoModelIDStereoModelIDstereoModelIDstereo_model_id

During execution of this operator, access to the value of this parameter must be synchronized if it is used across multiple threads.

Parameters

StereoModelIDStereoModelIDStereoModelIDstereoModelIDstereo_model_id (input_control, state is modified)  stereo_model → HStereoModel, HTupleHHandleHTupleHtuple (handle) (IntPtr) (HHandle) (handle)

Handle of the stereo model.

FromFromFromfromfrom (input_control)  integer-array → HTupleSequence[int]HTupleHtuple (integer) (int / long) (Hlong) (Hlong)

Camera indices for the from cameras in the image pairs.

Number of elements: From > 0

ToToTototo (input_control)  integer-array → HTupleSequence[int]HTupleHtuple (integer) (int / long) (Hlong) (Hlong)

Camera indices for the to cameras in the image pairs.

Number of elements: To == From

Possible Predecessors

create_stereo_modelcreate_stereo_modelCreateStereoModelCreateStereoModelcreate_stereo_model

Possible Successors

reconstruct_surface_stereoreconstruct_surface_stereoReconstructSurfaceStereoReconstructSurfaceStereoreconstruct_surface_stereo

See also

set_stereo_model_paramset_stereo_model_paramSetStereoModelParamSetStereoModelParamset_stereo_model_param, get_stereo_model_image_pairsget_stereo_model_image_pairsGetStereoModelImagePairsGetStereoModelImagePairsget_stereo_model_image_pairs

Module

3D Metrology

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