scene_flow_calibT_scene_flow_calibSceneFlowCalibSceneFlowCalibscene_flow_calib (Operator)

Name

scene_flow_calibT_scene_flow_calibSceneFlowCalibSceneFlowCalibscene_flow_calib — Compute the calibrated scene flow between two stereo image pairs.

Signature

scene_flow_calib(ImageRect1T1, ImageRect2T1, ImageRect1T2, ImageRect2T2, Disparity : : SmoothingFlow, SmoothingDisparity, GenParamName, GenParamValue, CamParamRect1, CamParamRect2, RelPoseRect : ObjectModel3D)

Description

scene_flow_calibscene_flow_calibSceneFlowCalibSceneFlowCalibSceneFlowCalibscene_flow_calib computes the calibrated scene flow between two consecutive rectified stereo image pairs. The scene flow is the three-dimensional position and motion of surface points in a dynamic scene. The movement in the images can be caused by objects that move in the world or by a movement of the camera (or both) between the acquisition of the two image pairs.

The scene flow is returned as the 3D object model ObjectModel3DObjectModel3DObjectModel3DObjectModel3DobjectModel3Dobject_model_3d. The 3D object model contains the coordinates of the reconstructed 3D points. Furthermore, the 3D flow is encoded in the 3D object model by the attributes '&flow_x'"&flow_x""&flow_x""&flow_x""&flow_x""&flow_x", '&flow_y'"&flow_y""&flow_y""&flow_y""&flow_y""&flow_y", and '&flow_z'"&flow_z""&flow_z""&flow_z""&flow_z""&flow_z".

The two consecutive stereo image pairs of the image sequence are passed in ImageRect1T1ImageRect1T1ImageRect1T1ImageRect1T1imageRect1T1image_rect_1t1, ImageRect2T1ImageRect2T1ImageRect2T1ImageRect2T1imageRect2T1image_rect_2t1, ImageRect1T2ImageRect1T2ImageRect1T2ImageRect1T2imageRect1T2image_rect_1t2, and ImageRect2T2ImageRect2T2ImageRect2T2ImageRect2T2imageRect2T2image_rect_2t2. Each stereo image pair must be rectified. Note that the images can be rectified by using the operators calibrate_camerascalibrate_camerasCalibrateCamerasCalibrateCamerasCalibrateCamerascalibrate_cameras, gen_binocular_rectification_mapgen_binocular_rectification_mapGenBinocularRectificationMapGenBinocularRectificationMapGenBinocularRectificationMapgen_binocular_rectification_map, and map_imagemap_imageMapImageMapImageMapImagemap_image.

The camera geometry of 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 pose RelPoseRectRelPoseRectRelPoseRectRelPoseRectrelPoseRectrel_pose_rect that defines 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 and gen_binocular_rectification_mapgen_binocular_rectification_mapGenBinocularRectificationMapGenBinocularRectificationMapGenBinocularRectificationMapgen_binocular_rectification_map. The focal length and scale factor of the rectified camera system 1 and 2 must be equal.

Furthermore, a single-channel DisparityDisparityDisparityDisparitydisparitydisparity image is required, which specifies for each pixel (r,c1) of the image ImageRect1T1ImageRect1T1ImageRect1T1ImageRect1T1imageRect1T1image_rect_1t1 a matching pixel (r,c2) of ImageRect2T1ImageRect2T1ImageRect2T1ImageRect2T1imageRect2T1image_rect_2t1 according to the equation c2=c1+d(r,c1), where d(r,c) is the DisparityDisparityDisparityDisparitydisparitydisparity at pixel (r,c). The disparity image can be computed using binocular_disparitybinocular_disparityBinocularDisparityBinocularDisparityBinocularDisparitybinocular_disparity or binocular_disparity_mgbinocular_disparity_mgBinocularDisparityMgBinocularDisparityMgBinocularDisparityMgbinocular_disparity_mg.

To calculate the calibrated scene flow, internally scene_flow_uncalibscene_flow_uncalibSceneFlowUncalibSceneFlowUncalibSceneFlowUncalibscene_flow_uncalib is first executed. The results are then converted to 3D points and 3D flow vectors using the stereo camera geometry parameters described above.

For a description of the remaining parameters of scene_flow_calibscene_flow_calibSceneFlowCalibSceneFlowCalibSceneFlowCalibscene_flow_calib, please refer to scene_flow_uncalibscene_flow_uncalibSceneFlowUncalibSceneFlowUncalibSceneFlowUncalibscene_flow_uncalib.

Execution Information

Multithreading type: reentrant (runs in parallel with non-exclusive operators).
Multithreading scope: global (may be called from any thread).
Automatically parallelized on internal data level.

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

ImageRect1T1ImageRect1T1ImageRect1T1ImageRect1T1imageRect1T1image_rect_1t1 (input_object) singlechannelimage(-array) → object (byte / uint2 / real)

Input image 1 at time .

ImageRect2T1ImageRect2T1ImageRect2T1ImageRect2T1imageRect2T1image_rect_2t1 (input_object) singlechannelimage(-array) → object (byte / uint2 / real)

Input image 2 at time .

ImageRect1T2ImageRect1T2ImageRect1T2ImageRect1T2imageRect1T2image_rect_1t2 (input_object) singlechannelimage(-array) → object (byte / uint2 / real)

Input image 1 at time .

ImageRect2T2ImageRect2T2ImageRect2T2ImageRect2T2imageRect2T2image_rect_2t2 (input_object) singlechannelimage(-array) → object (byte / uint2 / real)

Input image 2 at time .

DisparityDisparityDisparityDisparitydisparitydisparity (input_object) singlechannelimage(-array) → object (real)

Disparity between input images 1 and 2 at time .

SmoothingFlowSmoothingFlowSmoothingFlowSmoothingFlowsmoothingFlowsmoothing_flow (input_control) number → (real / integer)

Weight of the regularization term relative to the data term (derivatives of the optical flow).

Default: 40.0

Suggested values: 10.0, 20.0, 30.0, 40.0, 50.0, 60.0, 70.0, 80.0, 90.0, 100.0

Restriction: SmoothingFlow > 0.0

SmoothingDisparitySmoothingDisparitySmoothingDisparitySmoothingDisparitysmoothingDisparitysmoothing_disparity (input_control) number → (real / integer)

Weight of the regularization term relative to the data term (derivatives of the disparity change).

Default: 40.0

Suggested values: 10.0, 20.0, 30.0, 40.0, 50.0, 60.0, 70.0, 80.0, 90.0, 100.0

Restriction: SmoothingDisparity > 0.0

GenParamNameGenParamNameGenParamNameGenParamNamegenParamNamegen_param_name (input_control) attribute.name(-array) → (string)

Parameter name(s) for the algorithm.

Default: 'default_parameters' "default_parameters" "default_parameters" "default_parameters" "default_parameters" "default_parameters"

Suggested values: 'default_parameters'"default_parameters""default_parameters""default_parameters""default_parameters""default_parameters", 'warp_levels'"warp_levels""warp_levels""warp_levels""warp_levels""warp_levels", 'warp_zoom_factor'"warp_zoom_factor""warp_zoom_factor""warp_zoom_factor""warp_zoom_factor""warp_zoom_factor", 'warp_last_level'"warp_last_level""warp_last_level""warp_last_level""warp_last_level""warp_last_level", 'outer_iter'"outer_iter""outer_iter""outer_iter""outer_iter""outer_iter", 'inner_iter'"inner_iter""inner_iter""inner_iter""inner_iter""inner_iter", 'sor_iter'"sor_iter""sor_iter""sor_iter""sor_iter""sor_iter", 'omega'"omega""omega""omega""omega""omega"

GenParamValueGenParamValueGenParamValueGenParamValuegenParamValuegen_param_value (input_control) attribute.value(-array) → (string / integer / real)

Parameter value(s) for the algorithm.

Default: 'accurate' "accurate" "accurate" "accurate" "accurate" "accurate"

Suggested values: 'very_accurate'"very_accurate""very_accurate""very_accurate""very_accurate""very_accurate", 'accurate'"accurate""accurate""accurate""accurate""accurate", 'fast'"fast""fast""fast""fast""fast", 'very_fast'"very_fast""very_fast""very_fast""very_fast""very_fast", 0, 1, 2, 3, 4, 5, 6, 0.5, 0.6, 0.7, 0.75, 3, 5, 7, 2, 3, 1.9

CamParamRect1CamParamRect1CamParamRect1CamParamRect1camParamRect1cam_param_rect_1 (input_control) campar → (real / integer / string)

Internal camera parameters of the rectified camera 1.

CamParamRect2CamParamRect2CamParamRect2CamParamRect2camParamRect2cam_param_rect_2 (input_control) campar → (real / integer / string)

Internal camera parameters of the rectified camera 2.

RelPoseRectRelPoseRectRelPoseRectRelPoseRectrelPoseRectrel_pose_rect (input_control) pose → (real / integer)

Pose of the rectified camera 2 in relation to the rectified camera 1.

Number of elements: 7

ObjectModel3DObjectModel3DObjectModel3DObjectModel3DobjectModel3Dobject_model_3d (output_control) object_model_3d(-array) → (handle)

Handle of the 3D object model.

Result

If the parameter values are correct, the operator scene_flow_calibscene_flow_calibSceneFlowCalibSceneFlowCalibSceneFlowCalibscene_flow_calib returns the value 2 ( H_MSG_TRUE) . If the input is empty (no input images are available) the behavior can be set via 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>). If necessary, an exception is raised.

Possible Predecessors

binocular_disparitybinocular_disparityBinocularDisparityBinocularDisparityBinocularDisparitybinocular_disparity, binocular_disparity_mgbinocular_disparity_mgBinocularDisparityMgBinocularDisparityMgBinocularDisparityMgbinocular_disparity_mg

Alternatives

scene_flow_uncalibscene_flow_uncalibSceneFlowUncalibSceneFlowUncalibSceneFlowUncalibscene_flow_uncalib, optical_flow_mgoptical_flow_mgOpticalFlowMgOpticalFlowMgOpticalFlowMgoptical_flow_mg

References

A. Wedel, C. Rabe, T. Vaudrey, T. Brox, U. Franke and D. Cremers: “Efficient dense scene flow from sparse or dense stereo data”; In: Proceedings of the 10th European Conference on Computer Vision: Part I, pages 739-751. Springer-Verlag, 2008.

Module

Foundation

Operators