HALCON 17.12 / HALCON Operator Reference / 3D Reconstruction / Multi-View Stereo
ClassesClasses | | Operators

create_stereo_modelT_create_stereo_modelCreateStereoModelCreateStereoModel (Operator)

Name

create_stereo_modelT_create_stereo_modelCreateStereoModelCreateStereoModel — Create a HALCON stereo model.

Signature

create_stereo_model( : : CameraSetupModelID, Method, GenParamName, GenParamValue : StereoModelID)

Herror T_create_stereo_model(const Htuple CameraSetupModelID, const Htuple Method, const Htuple GenParamName, const Htuple GenParamValue, Htuple* StereoModelID)

void CreateStereoModel(const HTuple& CameraSetupModelID, const HTuple& Method, const HTuple& GenParamName, const HTuple& GenParamValue, HTuple* StereoModelID)

HStereoModel HCameraSetupModel::CreateStereoModel(const HString& Method, const HTuple& GenParamName, const HTuple& GenParamValue) const

HStereoModel HCameraSetupModel::CreateStereoModel(const HString& Method, const HString& GenParamName, const HTuple& GenParamValue) const

HStereoModel HCameraSetupModel::CreateStereoModel(const char* Method, const char* GenParamName, const HTuple& GenParamValue) const

void HStereoModel::HStereoModel(const HCameraSetupModel& CameraSetupModelID, const HString& Method, const HTuple& GenParamName, const HTuple& GenParamValue)

void HStereoModel::HStereoModel(const HCameraSetupModel& CameraSetupModelID, const HString& Method, const HString& GenParamName, const HTuple& GenParamValue)

void HStereoModel::HStereoModel(const HCameraSetupModel& CameraSetupModelID, const char* Method, const char* GenParamName, const HTuple& GenParamValue)

void HStereoModel::CreateStereoModel(const HCameraSetupModel& CameraSetupModelID, const HString& Method, const HTuple& GenParamName, const HTuple& GenParamValue)

void HStereoModel::CreateStereoModel(const HCameraSetupModel& CameraSetupModelID, const HString& Method, const HString& GenParamName, const HTuple& GenParamValue)

void HStereoModel::CreateStereoModel(const HCameraSetupModel& CameraSetupModelID, const char* Method, const char* GenParamName, const HTuple& GenParamValue)

static void HOperatorSet.CreateStereoModel(HTuple cameraSetupModelID, HTuple method, HTuple genParamName, HTuple genParamValue, out HTuple stereoModelID)

HStereoModel HCameraSetupModel.CreateStereoModel(string method, HTuple genParamName, HTuple genParamValue)

HStereoModel HCameraSetupModel.CreateStereoModel(string method, string genParamName, HTuple genParamValue)

public HStereoModel(HCameraSetupModel cameraSetupModelID, string method, HTuple genParamName, HTuple genParamValue)

public HStereoModel(HCameraSetupModel cameraSetupModelID, string method, string genParamName, HTuple genParamValue)

void HStereoModel.CreateStereoModel(HCameraSetupModel cameraSetupModelID, string method, HTuple genParamName, HTuple genParamValue)

void HStereoModel.CreateStereoModel(HCameraSetupModel cameraSetupModelID, string method, string genParamName, HTuple genParamValue)

Description

The operator create_stereo_modelcreate_stereo_modelCreateStereoModelCreateStereoModelCreateStereoModel creates a HALCON stereo model and returns a handle to it in StereoModelIDStereoModelIDStereoModelIDStereoModelIDstereoModelID. The model provides functionality for reconstructing either 3D points or surfaces from a calibrated multi-view stereo camera setup specified in CameraSetupModelIDCameraSetupModelIDCameraSetupModelIDCameraSetupModelIDcameraSetupModelID (refer to calibrate_camerascalibrate_camerasCalibrateCamerasCalibrateCamerasCalibrateCameras for further details on calibration of multiple cameras).

For MethodMethodMethodMethodmethod='points_3d'"points_3d""points_3d""points_3d""points_3d", a stereo model is created that, after being configured, can be passed to reconstruct_points_stereoreconstruct_points_stereoReconstructPointsStereoReconstructPointsStereoReconstructPointsStereo. The latter reconstructs 3D points by intersecting lines of sight from point correspondences, extracted from multiple calibrated images (see reconstruct_points_stereoreconstruct_points_stereoReconstructPointsStereoReconstructPointsStereoReconstructPointsStereo for more details).

For MethodMethodMethodMethodmethod='surface_pairwise'"surface_pairwise""surface_pairwise""surface_pairwise""surface_pairwise" or MethodMethodMethodMethodmethod='surface_fusion'"surface_fusion""surface_fusion""surface_fusion""surface_fusion", a stereo model is created that, after being configured, can be passed to reconstruct_surface_stereoreconstruct_surface_stereoReconstructSurfaceStereoReconstructSurfaceStereoReconstructSurfaceStereo. The latter obtains disparity images from preselected image pairs in a calibrated multi-view stereo setup and fuses the collected 3D information in a single surface reconstruction (see reconstruct_surface_stereoreconstruct_surface_stereoReconstructSurfaceStereoReconstructSurfaceStereoReconstructSurfaceStereo for more details).

The parameters GenParamNameGenParamNameGenParamNameGenParamNamegenParamName and GenParamValueGenParamValueGenParamValueGenParamValuegenParamValue can be used to set general model parameters. Alternatively, these parameters can be modified with the operator set_stereo_model_paramset_stereo_model_paramSetStereoModelParamSetStereoModelParamSetStereoModelParam before the corresponding reconstruction operator is called (see set_stereo_model_paramset_stereo_model_paramSetStereoModelParamSetStereoModelParamSetStereoModelParam for more details on the available model parameters).

When the model is no more needed, you should release its memory by clear_stereo_modelclear_stereo_modelClearStereoModelClearStereoModelClearStereoModel.

Execution Information

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

CameraSetupModelIDCameraSetupModelIDCameraSetupModelIDCameraSetupModelIDcameraSetupModelID (input_control)  camera_setup_model → HCameraSetupModel, HTupleHTupleHtuple (integer) (IntPtr) (Hlong) (Hlong)

Handle to the camera setup model.

MethodMethodMethodMethodmethod (input_control)  string → HTupleHTupleHtuple (string) (string) (HString) (char*)

Reconstruction method.

Default value: 'surface_pairwise' "surface_pairwise" "surface_pairwise" "surface_pairwise" "surface_pairwise"

List of values: 'points_3d'"points_3d""points_3d""points_3d""points_3d", 'surface_fusion'"surface_fusion""surface_fusion""surface_fusion""surface_fusion", 'surface_pairwise'"surface_pairwise""surface_pairwise""surface_pairwise""surface_pairwise"

GenParamNameGenParamNameGenParamNameGenParamNamegenParamName (input_control)  attribute.name(-array) → HTupleHTupleHtuple (string) (string) (HString) (char*)

Name of the model parameter to be set.

Default value: []

List of values: 'binocular_filter'"binocular_filter""binocular_filter""binocular_filter""binocular_filter", 'binocular_mask_height'"binocular_mask_height""binocular_mask_height""binocular_mask_height""binocular_mask_height", 'binocular_mask_width'"binocular_mask_width""binocular_mask_width""binocular_mask_width""binocular_mask_width", 'binocular_method'"binocular_method""binocular_method""binocular_method""binocular_method", 'binocular_mg_cycle_type'"binocular_mg_cycle_type""binocular_mg_cycle_type""binocular_mg_cycle_type""binocular_mg_cycle_type", 'binocular_mg_default_parameters'"binocular_mg_default_parameters""binocular_mg_default_parameters""binocular_mg_default_parameters""binocular_mg_default_parameters", 'binocular_mg_gradient_constancy'"binocular_mg_gradient_constancy""binocular_mg_gradient_constancy""binocular_mg_gradient_constancy""binocular_mg_gradient_constancy", 'binocular_mg_gray_constancy'"binocular_mg_gray_constancy""binocular_mg_gray_constancy""binocular_mg_gray_constancy""binocular_mg_gray_constancy", 'binocular_mg_initial_guess'"binocular_mg_initial_guess""binocular_mg_initial_guess""binocular_mg_initial_guess""binocular_mg_initial_guess", 'binocular_mg_initial_level'"binocular_mg_initial_level""binocular_mg_initial_level""binocular_mg_initial_level""binocular_mg_initial_level", 'binocular_mg_iterations'"binocular_mg_iterations""binocular_mg_iterations""binocular_mg_iterations""binocular_mg_iterations", 'binocular_mg_post_relax'"binocular_mg_post_relax""binocular_mg_post_relax""binocular_mg_post_relax""binocular_mg_post_relax", 'binocular_mg_pre_relax'"binocular_mg_pre_relax""binocular_mg_pre_relax""binocular_mg_pre_relax""binocular_mg_pre_relax", 'binocular_mg_pyramid_factor'"binocular_mg_pyramid_factor""binocular_mg_pyramid_factor""binocular_mg_pyramid_factor""binocular_mg_pyramid_factor", 'binocular_mg_smoothness'"binocular_mg_smoothness""binocular_mg_smoothness""binocular_mg_smoothness""binocular_mg_smoothness", 'binocular_mg_solver'"binocular_mg_solver""binocular_mg_solver""binocular_mg_solver""binocular_mg_solver", 'binocular_ms_consistency_check'"binocular_ms_consistency_check""binocular_ms_consistency_check""binocular_ms_consistency_check""binocular_ms_consistency_check", 'binocular_ms_edge_smoothing'"binocular_ms_edge_smoothing""binocular_ms_edge_smoothing""binocular_ms_edge_smoothing""binocular_ms_edge_smoothing", 'binocular_ms_similarity_measure'"binocular_ms_similarity_measure""binocular_ms_similarity_measure""binocular_ms_similarity_measure""binocular_ms_similarity_measure", 'binocular_ms_sub_disparity'"binocular_ms_sub_disparity""binocular_ms_sub_disparity""binocular_ms_sub_disparity""binocular_ms_sub_disparity", 'binocular_ms_surface_smoothing'"binocular_ms_surface_smoothing""binocular_ms_surface_smoothing""binocular_ms_surface_smoothing""binocular_ms_surface_smoothing", 'binocular_num_levels'"binocular_num_levels""binocular_num_levels""binocular_num_levels""binocular_num_levels", 'binocular_score_thresh'"binocular_score_thresh""binocular_score_thresh""binocular_score_thresh""binocular_score_thresh", 'binocular_sub_disparity'"binocular_sub_disparity""binocular_sub_disparity""binocular_sub_disparity""binocular_sub_disparity", 'binocular_texture_thresh'"binocular_texture_thresh""binocular_texture_thresh""binocular_texture_thresh""binocular_texture_thresh", 'bounding_box'"bounding_box""bounding_box""bounding_box""bounding_box", 'color'"color""color""color""color", 'color_invisible'"color_invisible""color_invisible""color_invisible""color_invisible", 'disparity_method'"disparity_method""disparity_method""disparity_method""disparity_method", 'min_thickness'"min_thickness""min_thickness""min_thickness""min_thickness", 'persistence'"persistence""persistence""persistence""persistence", 'point_meshing'"point_meshing""point_meshing""point_meshing""point_meshing", 'rectif_interpolation'"rectif_interpolation""rectif_interpolation""rectif_interpolation""rectif_interpolation", 'resolution'"resolution""resolution""resolution""resolution", 'smoothing'"smoothing""smoothing""smoothing""smoothing", 'sub_sampling_step'"sub_sampling_step""sub_sampling_step""sub_sampling_step""sub_sampling_step", 'surface_tolerance'"surface_tolerance""surface_tolerance""surface_tolerance""surface_tolerance"

GenParamValueGenParamValueGenParamValueGenParamValuegenParamValue (input_control)  attribute.value-array → HTupleHTupleHtuple (real / integer / string) (double / int / long / string) (double / Hlong / HString) (double / Hlong / char*)

Value of the model parameter to be set.

Default value: []

Suggested values: -1, -2, -5, 0, 0.3, 0.5, 0.9, 1, 2, 3, 'census_dense'"census_dense""census_dense""census_dense""census_dense", 'census_sparse'"census_sparse""census_sparse""census_sparse""census_sparse", 'binocular'"binocular""binocular""binocular""binocular", 'ncc'"ncc""ncc""ncc""ncc", 'none'"none""none""none""none", 'sad'"sad""sad""sad""sad", 'ssd'"ssd""ssd""ssd""ssd", 'bilinear'"bilinear""bilinear""bilinear""bilinear", 'false'"false""false""false""false", 'very_accurate'"very_accurate""very_accurate""very_accurate""very_accurate", 'accurate'"accurate""accurate""accurate""accurate", 'fast_accurate'"fast_accurate""fast_accurate""fast_accurate""fast_accurate", 'fast'"fast""fast""fast""fast", 'v'"v""v""v""v", 'w'"w""w""w""w", 'none'"none""none""none""none", 'gauss_seidel'"gauss_seidel""gauss_seidel""gauss_seidel""gauss_seidel", 'multigrid'"multigrid""multigrid""multigrid""multigrid", 'true'"true""true""true""true", 'poisson'"poisson""poisson""poisson""poisson", 'isosurface'"isosurface""isosurface""isosurface""isosurface", 'interpolation'"interpolation""interpolation""interpolation""interpolation", 'left_right_check'"left_right_check""left_right_check""left_right_check""left_right_check", 'full_multigrid'"full_multigrid""full_multigrid""full_multigrid""full_multigrid", 'binocular_mg'"binocular_mg""binocular_mg""binocular_mg""binocular_mg", 'binocular_ms'"binocular_ms""binocular_ms""binocular_ms""binocular_ms", 'smallest_distance'"smallest_distance""smallest_distance""smallest_distance""smallest_distance", 'mean_by_distance'"mean_by_distance""mean_by_distance""mean_by_distance""mean_by_distance", 'line_of_sight'"line_of_sight""line_of_sight""line_of_sight""line_of_sight", 'mean_by_line_of_sight'"mean_by_line_of_sight""mean_by_line_of_sight""mean_by_line_of_sight""mean_by_line_of_sight", 'median'"median""median""median""median"

StereoModelIDStereoModelIDStereoModelIDStereoModelIDstereoModelID (output_control)  stereo_model → HStereoModel, HTupleHTupleHtuple (integer) (IntPtr) (Hlong) (Hlong)

Handle of the stereo model.

Possible Successors

set_stereo_model_paramset_stereo_model_paramSetStereoModelParamSetStereoModelParamSetStereoModelParam, set_stereo_model_image_pairsset_stereo_model_image_pairsSetStereoModelImagePairsSetStereoModelImagePairsSetStereoModelImagePairs, reconstruct_surface_stereoreconstruct_surface_stereoReconstructSurfaceStereoReconstructSurfaceStereoReconstructSurfaceStereo, reconstruct_points_stereoreconstruct_points_stereoReconstructPointsStereoReconstructPointsStereoReconstructPointsStereo

Module

3D Metrology

ClassesClasses | | Operators
HALCON Operator Reference 17.12 Copyright © 1996-2017 MVTec Software GmbH