disparity_image_to_xyzT_disparity_image_to_xyzDisparityImageToXyzDisparityImageToXyzdisparity_image_to_xyz (算子)

名称

disparity_image_to_xyzT_disparity_image_to_xyzDisparityImageToXyzDisparityImageToXyzdisparity_image_to_xyz — 在校正的立体系统中将视差图像变换为三维点。

签名

描述

Given the disparity image DisparityDisparityDisparityDisparitydisparitydisparity of a rectified binocular stereo system, disparity_image_to_xyzdisparity_image_to_xyzDisparityImageToXyzDisparityImageToXyzDisparityImageToXyzdisparity_image_to_xyz computes the corresponding 3D points. Their coordinates relative to the rectified camera 1 are stored as gray values in the images XXXXxx, YYYYyy, and ZZZZzz, i.e., the pixels at the position (Row,Column) in XXXXxx, YYYYyy, and ZZZZzz 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 CamParamRect1CamParamRect1CamParamRect1CamParamRect1camParamRect1cam_param_rect_1 of the rectified camera 1 and CamParamRect2CamParamRect2CamParamRect2CamParamRect2camParamRect2cam_param_rect_2 of the rectified camera 2, and the external parameters RelPoseRectRelPoseRectRelPoseRectRelPoseRectrelPoseRectrel_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_camerasCalibrateCamerasCalibrateCamerasCalibrateCamerascalibrate_cameras and gen_binocular_rectification_mapgen_binocular_rectification_mapGenBinocularRectificationMapGenBinocularRectificationMapGenBinocularRectificationMapgen_binocular_rectification_map。

注意

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

执行信息

• 多线程类型：可重入（与非独占算子并行运行）。
• 多线程作用域：全局（可从任何线程调用）。
• 在元组级别上自动并行化。
• 在域级别上自动并行化。

参数

示例（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)

结果

算子 disparity_image_to_xyzdisparity_image_to_xyzDisparityImageToXyzDisparityImageToXyzDisparityImageToXyzdisparity_image_to_xyz 在输入不为空时返回值 2 ( H_MSG_TRUE )。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>)SetSystem("no_object_result",<Result>)set_system("no_object_result",<Result>)。空区域（区域是空集）的情况下的可设置行为通过 set_system('empty_region_result',<Result>)set_system("empty_region_result",<Result>)SetSystem("empty_region_result",<Result>)SetSystem("empty_region_result",<Result>)SetSystem("empty_region_result",<Result>)set_system("empty_region_result",<Result>)。如有必要，则抛出异常。

可能的前趋

binocular_disparitybinocular_disparityBinocularDisparityBinocularDisparityBinocularDisparitybinocular_disparity

可能的后继

thresholdthresholdThresholdThresholdThresholdthreshold, write_imagewrite_imageWriteImageWriteImageWriteImagewrite_image

替代

disparity_to_point_3ddisparity_to_point_3dDisparityToPoint3dDisparityToPoint3dDisparityToPoint3ddisparity_to_point_3d, binocular_distancebinocular_distanceBinocularDistanceBinocularDistanceBinocularDistancebinocular_distance

另见

binocular_calibrationbinocular_calibrationBinocularCalibrationBinocularCalibrationBinocularCalibrationbinocular_calibration, gen_binocular_rectification_mapgen_binocular_rectification_mapGenBinocularRectificationMapGenBinocularRectificationMapGenBinocularRectificationMapgen_binocular_rectification_map, intersect_lines_of_sightintersect_lines_of_sightIntersectLinesOfSightIntersectLinesOfSightIntersectLinesOfSightintersect_lines_of_sight

模块

三维计量

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