disparity_to_point_3dT_disparity_to_point_3dDisparityToPoint3dDisparityToPoint3ddisparity_to_point_3d（算子）
名称
disparity_to_point_3dT_disparity_to_point_3dDisparityToPoint3dDisparityToPoint3ddisparity_to_point_3d — 在经过校正的立体系统中将图像点及其视差变换为三维点。
签名
void DisparityToPoint3d(const HTuple& CamParamRect1, const HTuple& CamParamRect2, const HTuple& RelPoseRect, const HTuple& Row1, const HTuple& Col1, const HTuple& Disparity, HTuple* X, HTuple* Y, HTuple* Z)
void HCamPar::DisparityToPoint3d(const HCamPar& CamParamRect2, const HPose& RelPoseRect, const HTuple& Row1, const HTuple& Col1, const HTuple& Disparity, HTuple* X, HTuple* Y, HTuple* Z) const
void HCamPar::DisparityToPoint3d(const HCamPar& CamParamRect2, const HPose& RelPoseRect, double Row1, double Col1, double Disparity, double* X, double* Y, double* Z) const
void HPose::DisparityToPoint3d(const HCamPar& CamParamRect1, const HCamPar& CamParamRect2, const HTuple& Row1, const HTuple& Col1, const HTuple& Disparity, HTuple* X, HTuple* Y, HTuple* Z) const
void HPose::DisparityToPoint3d(const HCamPar& CamParamRect1, const HCamPar& CamParamRect2, double Row1, double Col1, double Disparity, double* X, double* Y, double* Z) const
static void HOperatorSet.DisparityToPoint3d(HTuple camParamRect1, HTuple camParamRect2, HTuple relPoseRect, HTuple row1, HTuple col1, HTuple disparity, out HTuple x, out HTuple y, out HTuple z)
void HCamPar.DisparityToPoint3d(HCamPar camParamRect2, HPose relPoseRect, HTuple row1, HTuple col1, HTuple disparity, out HTuple x, out HTuple y, out HTuple z)
void HCamPar.DisparityToPoint3d(HCamPar camParamRect2, HPose relPoseRect, double row1, double col1, double disparity, out double x, out double y, out double z)
void HPose.DisparityToPoint3d(HCamPar camParamRect1, HCamPar camParamRect2, HTuple row1, HTuple col1, HTuple disparity, out HTuple x, out HTuple y, out HTuple z)
void HPose.DisparityToPoint3d(HCamPar camParamRect1, HCamPar camParamRect2, double row1, double col1, double disparity, out double x, out double y, out double z)
def disparity_to_point_3d(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]], row_1: MaybeSequence[Union[int, float]], col_1: MaybeSequence[Union[int, float]], disparity: MaybeSequence[Union[int, float]]) -> Tuple[Sequence[float], Sequence[float], Sequence[float]]
def disparity_to_point_3d_s(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]], row_1: MaybeSequence[Union[int, float]], col_1: MaybeSequence[Union[int, float]], disparity: MaybeSequence[Union[int, float]]) -> Tuple[float, float, float]
描述
Given an image point of the rectified camera 1, specified by its
image coordinates (Row1Row1Row1Row1row1row_1,Col1Col1Col1Col1col1col_1), and its disparity
in a rectified binocular stereo system,
disparity_to_point_3ddisparity_to_point_3dDisparityToPoint3dDisparityToPoint3dDisparityToPoint3ddisparity_to_point_3d computes the corresponding three
dimensional object point. The disparity value DisparityDisparityDisparityDisparitydisparitydisparity
defines the column difference of the image coordinates of two
corresponding features on an epipolar line according to the equation
. The rectified binocular
camera system is specified by its internal camera parameters
CamParamRect1CamParamRect1CamParamRect1CamParamRect1camParamRect1cam_param_rect_1 of camera 1 and CamParamRect2CamParamRect2CamParamRect2CamParamRect2camParamRect2cam_param_rect_2 of
camera 2, and the external parameters RelPoseRectRelPoseRectRelPoseRectRelPoseRectrelPoseRectrel_pose_rect defining
the pose of the rectified camera 2 in relation to the rectified
camera 1. These camera parameters can be obtained from the
operators calibrate_camerascalibrate_camerasCalibrateCamerasCalibrateCamerasCalibrateCamerascalibrate_cameras 和 gen_binocular_rectification_mapgen_binocular_rectification_mapGenBinocularRectificationMapGenBinocularRectificationMapGenBinocularRectificationMapgen_binocular_rectification_map。The 3D point is returned
in Cartesian coordinates (XXXXxx,YYYYyy,ZZZZzz) of the
rectified camera system 1.
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）。
- 未采用并行化处理。
参数
CamParamRect1CamParamRect1CamParamRect1CamParamRect1camParamRect1cam_param_rect_1 (输入控制) campar → HCamPar, HTupleSequence[Union[int, float, str]]HTupleHtuple (real / integer / string) (double / int / long / string) (double / Hlong / HString) (double / Hlong / char*)
Rectified internal camera parameters of camera 1.
CamParamRect2CamParamRect2CamParamRect2CamParamRect2camParamRect2cam_param_rect_2 (输入控制) campar → HCamPar, HTupleSequence[Union[int, float, str]]HTupleHtuple (real / integer / string) (double / int / long / string) (double / Hlong / HString) (double / Hlong / char*)
Rectified internal camera parameters of camera 2.
RelPoseRectRelPoseRectRelPoseRectRelPoseRectrelPoseRectrel_pose_rect (输入控制) 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.
元素数量：
7
Row1Row1Row1Row1row1row_1 (输入控制) number(-array) → HTupleMaybeSequence[Union[int, float]]HTupleHtuple (real / integer) (double / int / long) (double / Hlong) (double / Hlong)
Row coordinate of a point in the rectified image 1.
Col1Col1Col1Col1col1col_1 (输入控制) number(-array) → HTupleMaybeSequence[Union[int, float]]HTupleHtuple (real / integer) (double / int / long) (double / Hlong) (double / Hlong)
Column coordinate of a point in the rectified image 1.
DisparityDisparityDisparityDisparitydisparitydisparity (输入控制) number(-array) → HTupleMaybeSequence[Union[int, float]]HTupleHtuple (real / integer) (double / int / long) (double / Hlong) (double / Hlong)
Disparity of the images of the world point.
XXXXxx (输出控制) real(-array) → HTupleSequence[float]HTupleHtuple (real) (double) (double) (double)
X coordinate of the 3D point.
YYYYyy (输出控制) real(-array) → HTupleSequence[float]HTupleHtuple (real) (double) (double) (double)
Y coordinate of the 3D point.
ZZZZzz (输出控制) real(-array) → HTupleSequence[float]HTupleHtuple (real) (double) (double) (double)
Z coordinate of the 3D point.
结果
disparity_to_point_3ddisparity_to_point_3dDisparityToPoint3dDisparityToPoint3dDisparityToPoint3ddisparity_to_point_3d 在所有参数值正确时返回 2 (H_MSG_TRUE)。如有必要，则抛出异常。
可能的前趋
binocular_calibrationbinocular_calibrationBinocularCalibrationBinocularCalibrationBinocularCalibrationbinocular_calibration,
gen_binocular_rectification_mapgen_binocular_rectification_mapGenBinocularRectificationMapGenBinocularRectificationMapGenBinocularRectificationMapgen_binocular_rectification_map
替代
disparity_image_to_xyzdisparity_image_to_xyzDisparityImageToXyzDisparityImageToXyzDisparityImageToXyzdisparity_image_to_xyz
另见
binocular_disparitybinocular_disparityBinocularDisparityBinocularDisparityBinocularDisparitybinocular_disparity,
binocular_distancebinocular_distanceBinocularDistanceBinocularDistanceBinocularDistancebinocular_distance,
intersect_lines_of_sightintersect_lines_of_sightIntersectLinesOfSightIntersectLinesOfSightIntersectLinesOfSightintersect_lines_of_sight
模块
三维计量