stereo calibration使用opencv获取图像rectification 使用opencv获取图像rectification 左右两张图像经过rectification后,会前向共面,也就是它们的主光轴平行,见“三角测量的前提的假设”。 该处理的源代码对应于opencv的sample的stereo_calib.cpp。 基本处理过程 基本处理过程分为两个部分,1)获取进行rectification所需要的map1...
Then I use the float data to construct the opencv Mat Mat (int rows, int cols, int type, void *data, size_t step=AUTO_STEP), it can use the float data from the PFMAccess directly. Also remember that the copy constructor of Mat is like std::shared_ptr. So you don't need to fe...
What isRobustPhotometric Stereo? Conventional Photometric Stereo is based on least-square regression (or L2 residual minimization), which is susceptible to largeoutliers. For example, when a Lambertian reflectance and local illumination model are assumed, specular high-lights and cast shadows are regarde...
To address these issues, a novel defect detection technique based on deep learning and photometric stereo vision was proposed, along with the creation of the Metal Surface Defect Dataset (MSDD). The proposed Stroboscopic Illuminant Image Acquisition (SIIA) method uses a specially arranged illuminant ...
1. Introduction gradient orientation-based metric, 通过 magnitude depending scaling term来提升. 我们在四个估计系统里囊括了我们的metric (OpenCV, MeshStereo, DSO和Basalt). 2. Related Work LSD-SLAM优化了variance-weighted光度误差. [18]用了NID (Normalized Information Distance) metric for 直接单目SLAM. ...
Our implementation assumes that stereo camera is hardware-synced and the spatio-temporal parameters for cameras and IMU are calibrated as it is a critical step in sensor fusion. You can calibrate your visual-inertial sensor usingKalibrtoolbox and place the output file inconfig. ...
Python packages: PyTorch(=1.3.1), Numpy, OpenCV, gen_normal_mask 2. Install To install the third-party package 'gen_normal_mask' you need to do the following step: cd gen_normal_mask -> run 'python set_up.py install' Usage Testing 1. Trained Models Our trained models are contained ...
cv2(OpenCV, used for image I/O) glob(used for reading out a list of images) numpy(main computation depends on matrix operations) sklearn(scikit-learn, used for normalization of array) This code implementation work is supported by Osaka University and JSPS KAKENHI Grant Number JP16H01732, Jap...
Our implementation assumes that stereo camera is hardware-synced and the spatio-temporal parameters for cameras and IMU are calibrated as it is a critical step in sensor fusion. You can calibrate your visual-inertial sensor usingKalibrtoolbox and place the output file inconfig. ...