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Registration - DisCODe Component Library

Description

DCL containing components responsible for registration of models of objects (SIFTObjctModels - SOMs), their saving to files, loading models from files etc.

Dependencies

DCL depends on the following DCLs:

  • CvCoreTypes - contains basic OpenCV-related types
  • PCLCoreTypes - contains basic PCL-related types
  • PCL - contains algorithms responsible for processing of point clouds (3D vision)
  • CvBasic - contains components responsible for "classical" (2D) computer vision
  • CvStereo - required for estimation of depth from stereo pairs
  • CameraNUI - required for acquisition from Kinect-like sensors
  • ModelViewAcquisition - contains component responsible for extraction of masks
  • SIFTObjectModel - contains components responsible for generation of SIFT Object Model

Tasks

Registration of models of objects from stereo camera images:

  • TexturedStereoLRSequenceToCloudViewer - Reads two pairs of left and right images from files (2 with and 2 without additional projection of texture), computes depth and displays resulting XYZRGB point cloud and stores RGB and XYZ files.

  • RGBXYZWideSequenceSOMCollector - Reads RGB and XYZ files along with image acquired from wide camera in order to generate "fragments of object" - views consisting of pairs of XYZRGB and XYZSIFT clouds.

  • CloudXYZRGBSIFTLUMCollector - Loads views (pairs of XYZRGB and XYZSIFT clouds) and registers them, with the use of LUM-based loop closure.

Registration of models of objects from Kinect images:

  • RGBDSequenceSOMCollector - Reads RGB and Depth images from files and generates on their basis "fragments of object" - views consisting of pairs of XYZRGB and XYZSIFT.

  • CloudXYZRGBSIFTLUMCollector - Loads views (pairs of XYZRGB and XYZSIFT clouds) and registers them, with the use of LUM-based loop closure (the same task as for stereo).

Task for calibration of our multi-camera setup:

  • LeftWideSetupCalibration - Task for calibration of a dual-camera setup (i.e. left and wide cameras) with the use of classical chessboard pattern.

  • LeftWideSetupCalibrationCirclesGrid - Task for calibration of a dual-camera setup (i.e. left and wide cameras) with the use of circles grid pattern.

  • RGBXYZWideSequenceDepthTransform_test - Task for testing the transformation of depth (acquired in the left camera frame, transformet to wide, and finally to lazy suzan reference frame).

Additional tasks for displaying images - kinect RGB-D images:

  • KinectRGBDRainbowViewer - Displays images acquired on-the-fly from Kinect, enables writing of images to files.

Additional tasks for displaying images - stereo camera images:

  • StereoLRSequenceViewer - Displays left and right images from stereo pair (loaded from files).

  • StereoLRSequenceToRGBXYZViewer - Loads left and right images loaded from files, estimates depth and displays results. Additionally enables to save resulting images to files.

Additional tasks for displaying images - RGB-XYZ pairs of images:

  • RGBXYZSequenceViewer - loads RGB-XYZ pairs of images, displays rainbow (depth) and generated XYZRGB point cloud.

Additional tasks for displaying clouds:

  • CloudXYZRGBSequenceViewer - loads and displays sequence of XYZRGB clouds.

  • CloudXYZRGBSIFTSequenceViewer - loads and displays pairs of XYZRGB and XYZSIFT clouds

  • CloudXYZRGBSIFTCorrespondencesViewer - loads and displays two sequences of pairs of XYZRGB and XYZSIFT clouds, estimates and displays correspondences.

Maintainer