get_stereo_model_objectT_get_stereo_model_objectGetStereoModelObjectGetStereoModelObjectget_stereo_model_object (算子)

名称

get_stereo_model_objectT_get_stereo_model_objectGetStereoModelObjectGetStereoModelObjectget_stereo_model_object — 获得立体重建的中间图标结果。

签名

描述

With the operator get_stereo_model_objectget_stereo_model_objectGetStereoModelObjectGetStereoModelObjectGetStereoModelObjectget_stereo_model_object you can access and inspect intermediate iconic results of a surface reconstruction performed with reconstruct_surface_stereoreconstruct_surface_stereoReconstructSurfaceStereoReconstructSurfaceStereoReconstructSurfaceStereoreconstruct_surface_stereo for the stereo model StereoModelIDStereoModelIDStereoModelIDStereoModelIDstereoModelIDstereo_model_id. In particular, this is useful for troubleshooting the reconstruction process. Note that to collect the iconic results, you must enable the 'persistence'"persistence""persistence""persistence""persistence""persistence" mode for the stereo model (see set_stereo_model_paramset_stereo_model_paramSetStereoModelParamSetStereoModelParamSetStereoModelParamset_stereo_model_param) before performing the reconstruction. Iconic results are then associated with each image pair that was processed during the reconstruction (see get_stereo_model_image_pairsget_stereo_model_image_pairsGetStereoModelImagePairsGetStereoModelImagePairsGetStereoModelImagePairsget_stereo_model_image_pairs).

You select the image pair of interest by specifying the corresponding camera indices [From, To] in PairIndexPairIndexPairIndexPairIndexpairIndexpair_index. By setting one of the following values in ObjectNameObjectNameObjectNameObjectNameobjectNameobject_name, the corresponding iconic objects are then returned in ObjectObjectObjectObjectobjectValobject:

'from_image_rect'"from_image_rect""from_image_rect""from_image_rect""from_image_rect""from_image_rect", 'to_image_rect'"to_image_rect""to_image_rect""to_image_rect""to_image_rect""to_image_rect"：

Rectified image corresponding to the from and to camera, respectively. Both images can be used to inspect the quality of the internal binocular stereo image rectification.

'disparity_image'"disparity_image""disparity_image""disparity_image""disparity_image""disparity_image"：

Disparity image for this pair. The quality of the disparity image has a direct impact on the final surface reconstruction.

'score_image'"score_image""score_image""score_image""score_image""score_image"：

Score image assigned to the disparity image for this pair.

A mismatch between the rectified images, i.e., features appearing in different rows in the two images, or errors in the disparity or the score image have direct impact on the quality of the final surface reconstruction. Therefore, we recommend to correct any detected imperfections by adjusting the stereo model parameters (see set_stereo_model_paramset_stereo_model_paramSetStereoModelParamSetStereoModelParamSetStereoModelParamset_stereo_model_param), in particular those which control the internal usage of gen_binocular_rectification_mapgen_binocular_rectification_mapGenBinocularRectificationMapGenBinocularRectificationMapGenBinocularRectificationMapgen_binocular_rectification_map and binocular_disparitybinocular_disparityBinocularDisparityBinocularDisparityBinocularDisparitybinocular_disparity (see set_stereo_model_image_pairsset_stereo_model_image_pairsSetStereoModelImagePairsSetStereoModelImagePairsSetStereoModelImagePairsset_stereo_model_image_pairs and reconstruct_surface_stereoreconstruct_surface_stereoReconstructSurfaceStereoReconstructSurfaceStereoReconstructSurfaceStereoreconstruct_surface_stereo for further details).

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

可能的前趋

reconstruct_surface_stereoreconstruct_surface_stereoReconstructSurfaceStereoReconstructSurfaceStereoReconstructSurfaceStereoreconstruct_surface_stereo

模块

三维计量