Sorry for the bombardment of posts, but I want to share some stuff I've been working on lately, so when I find time I just shoot the posts out.
So this time I'll talk shortly about how to get an estimation of a rigid transformation between two clouds, that potentially are also of different scale. You will end up with a rigid transformation (Rotation Translation) and a scale factor, son in fact it will be a Similarity Transformation. We will first find the right scale, and then find the right transformation, given there is one (but we will find the best transformation there is).
Continue reading "Registering point clouds rigidly with scale using PCL [w/code]"
Just catching up on some bloggin, and I wanna share a snippet of OpenCV code on how to check if your (badly) triangulated 3D points came up co-planar, and therefore a botch triangulation. It's a very simplistic method, only a few lines, and it also is part of my Structure from Motion Toy Library project.
Continue reading "Checking for co-planarity of 3D points in OpenCV [w/code]"
Quickly sharing some useful scripts I've "developed" over the summer to cope with some image resizing / video ripping / transcoding, etc.
Instead of using some specialized GUI software for transcoding I thought why not simply put useful options in the Windows file browser "Send To..." context menu. That way I can right-click the file I want to work with and just send it to some tool to do the job.
Here it is...
Continue reading "Useful ImageMagick and FFmpeg shortcuts for Win SendTo menu"
I've been working feverishly to straighten up the Structure from Motion Toy Library, and make it more robust. During my experiments with different methods I wanted to test out a different method for decomposing the Essential matrix to rotation R and translation t, other than that of Hartley and Zisserman using SVD. That's when I came upon this paper: here by Berthold Horn from 1990, that traces the steps of Longuet-Higgins who came up with the derivation for the Essential matrix. It has a closed form solution that works pretty well, and here it is implemented with the Eigen math library (a very good library to get to know).
Continue reading "Decomposing the Essential matrix using Horn and Eigen [w/code]"