get_stereo_model_objectT_get_stereo_model_objectGetStereoModelObjectGetStereoModelObject (Operator)

Name

get_stereo_model_objectT_get_stereo_model_objectGetStereoModelObjectGetStereoModelObject — Get intermediate iconic results of a stereo reconstruction.

Signature

Description

With the operator get_stereo_model_objectget_stereo_model_objectGetStereoModelObjectGetStereoModelObjectGetStereoModelObject you can access and inspect intermediate iconic results of a surface reconstruction performed with reconstruct_surface_stereoreconstruct_surface_stereoReconstructSurfaceStereoReconstructSurfaceStereoReconstructSurfaceStereo for the the stereo model StereoModelIDStereoModelIDStereoModelIDStereoModelIDstereoModelID. 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" mode for the stereo model (see set_stereo_model_paramset_stereo_model_paramSetStereoModelParamSetStereoModelParamSetStereoModelParam) 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_pairsGetStereoModelImagePairsGetStereoModelImagePairsGetStereoModelImagePairs).

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

'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":

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 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 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_paramSetStereoModelParamSetStereoModelParamSetStereoModelParam), in particular those which control the internal usage of gen_binocular_rectification_mapgen_binocular_rectification_mapGenBinocularRectificationMapGenBinocularRectificationMapGenBinocularRectificationMap and binocular_disparitybinocular_disparityBinocularDisparityBinocularDisparityBinocularDisparity (see set_stereo_model_image_pairsset_stereo_model_image_pairsSetStereoModelImagePairsSetStereoModelImagePairsSetStereoModelImagePairs and reconstruct_surface_stereoreconstruct_surface_stereoReconstructSurfaceStereoReconstructSurfaceStereoReconstructSurfaceStereo for further details).

Execution Information

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

Parameters

Possible Predecessors

reconstruct_surface_stereoreconstruct_surface_stereoReconstructSurfaceStereoReconstructSurfaceStereoReconstructSurfaceStereo

Module

3D Metrology