Aditya Sarawgi truncs
cashiwamochi
/ simple_triangulation.cc
Last active
September 16, 2023 14:19
This code is used for simple triangulation. It uses findEssentialMat, recoverPose, triangulatePoints in OpenCV. For viewer, PCL is used. You can watch 3D points and 2 camera poses. I checked alcatraz2.jpg and alcatraz1.jpg in pcv_data.zip (https://www.oreilly.co.jp/pub/9784873116075/). Perhaps there is something wrong ( actually it looks working…
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| #include <opencv2/opencv.hpp> | |
| #include <pcl/common/common_headers.h> | |
| #include <pcl/io/pcd_io.h> | |
| #include <pcl/point_types.h> | |
| #include <pcl/point_cloud.h> | |
| #include <pcl/visualization/pcl_visualizer.h> | |
| #include <Eigen/Core> | |
| #include <Eigen/LU> |
lanius
/ reconstruct.py
Last active
December 13, 2023 00:59
3D reconstruction from stereo images in Python
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| # -*- coding: utf-8 -*- | |
| import argparse | |
| import cv2 | |
| import numpy as np | |
| def calc_disparity(left_image, right_image): | |
| window_size = 3 |