StereoScan(libVISO2) 学习笔记
Overview
LIBVISO2 (Library for Visual Odometry 2) is a very fast cross-platfrom (Linux, Windows) C++ library with MATLAB wrappers for computing the 6 DOF motion of a moving mono/stereo camera.
The stereo version is based on minimizing the reprojection error of sparse feature matches and is rather general (no motion model or setup restri...
OpenCV编译安装配置总结
[TOC]
Overview
check version from source
modules/core/include/opencv2/core/version.hpp
check informations after installation
# 查看opencv版本
pkg-config --modversion opencv
# 查看opencv包含目录
pkg-config --cflags opencv
# 查看opencv库目录
pkg-config --libs opencv
Build & Installation
Dependencies
sudo apt install build...
Computer Vision Libraries
libCVD
libCVD is a very portable and high performance C++ library for computer vision, image, and video processing.
# libCVD
link_libraries( cvd )
OpenGL Suits
# OpenGL
find_package(OpenGL REQUIRED)
if(OPENGL_FOUND)
link_libraries( ${OPENGL_LIBRARY} )
endif()
# GLUT
find_package(GLUT REQUIRED)
if(GLUT_FOUND)
link_libraries( ${GLUT...
Pinhole Camera Model
[TOC]
成像流水线
针孔相机模型
相机将三维世界中的坐标点(单位:米)映射到二维图像平面(单位:像素)的过程能够用一个几何模型来描述,其中最简单的称为 针孔相机模型 (pinhole camera model) ,其框架如下图所示。
世界坐标系中三维点 $M=[X,Y,Z]^T$ 和 像素坐标系中二维点 $m=[u,v]^T$ 的关系为:
\(s\tilde{m} = A [R \quad t] \tilde{M}\)
即(针孔相机模型)
\[\begin{aligned}
s\left[\begin{array}{c}u\\v\\1\end{array}\right] =
\left[\begin{array}{ccc}
f_x&0&...
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