mirnyy's profile - activity

Hello,

i just wanted to ask about your advise.

I need to use the SGBM (semi-global block matcher) to get a accurate disparity map. The SBM (stereo block matcher) is delivering quite bad and unuseful results.

The problem is just, that it seems that SGBM is not implemented in OpenCV CUDA yet (but the SBM).
But i need the SGBM to work faster (for example on the GPU).
Would you say it is possible to implement it in CUDA in a few days with not much experience in CUDA C programming?
And is it btw a good idea to implement it, or are the for example already good alternatives for it?

Good 3D-Viewer (for PointCloud + Camera Pose) Recommends? Hey, does anyone know a good 3D-Viewer (similar to viz-mod

Good 3D-Viewer (for PointCloud + Camera Pose) Recommends? Hey, does anyone know a good 3D-Viewer (similar to viz-mod

Good 3D-Viewer (for PointCloud + Camera Pose) Recommends? Hey, does anyone know a good 3D-Viewer (similar to viz-mod

Good 3D-Viewer (for PointCloud + Camera Pose) Hey, does anyone know a good 3D-Viewer (similar to viz-module in OpenCV,

Good 3D-Viewer (for PointCloud + Camera Pose) Hey, does anyone know a good 3D-Viewer (similar to viz-module in OpenCV,

Good 3D-Viewer (for PointCloud + Camera Pose) Hey, does anyone know a good 3D-Viewer (similar to viz-module in OpenCV,

Good 3D-Viewer (for PointCloud + Camera Pose) Hey, does anyone know a good 3D-Viewer (similar to viz-module in OpenCV,

Good 3D-Viewer (for PointCloud + Camera Pose) Hey, does anyone know a good 3D-Viewer (similar to viz-module in OpenCV,

Good 3D-Viewer (for PointCloud + Camera Pose) Hey, does anyone know a good 3D-Viewer (similar to viz-module in OpenCV,

Picking 3D points in Viz Hey, is it possible to pick points in Viz? I already have callback method for getting the pos

Picking 3D points in Viz Hey, is it possible to pick points in Viz? I already have callback method for getting the pos

Picking 3D points in Viz Hey, is it possible to pick points in Viz? I already have callback method for getting the pos

Picking 3D points in Viz Hey, is it possible to pick points in Viz? I already have callback method for getting the posi

Picking 3D points in Viz Hey, is it possible to pick points in Viz? I already have callback method for getting the posi

Anybody can help?

pushpushpush

Hello, it helped me (at least now i know that the function doesn't use the "minDisparity" value), but i still need to us

pushpushpush

But would it still make sense to implement the SFM algorithm in real time? Because the SFM algorithm is delivering more

But would it be nonsense to implement the SFM algorithm in real time?

I dont mean the SFM module inside OpenCV... I mean in general the SFM algorithm (maybe own implementation) with bundle a

Sfm (with bundle adjustment) in Real-Time? Hello, is the structure from motion algorithm (which involves bundle adjustm

Ah, thank you! Thank was the problem!

projectPoints() Wrong results?? Why is my code snippet giving me weird results for projected points? //Generate the one

projectPoints() Wrong results?? Why is my code snippet giving me weird results for projected points? //Generate the one

projectPoints() Wrong results?? Why is my code snippet giving me weird results for projected points? //Generate the 3D

projectPoints() Wrong results?? Why is my code snippet giving me weird results for projected points? //Generate the 3D

projectPoints() Wrong results?? Why is my code snippet giving me weird results for projected points? //Generate the 3D

projectPoints() Wrong results?? Why is my code snippet giving me weird results for projected points? vector<Point3d&

projectPoints() Wrong results?? Why is my code snippet giving my weird results for projected points? vector<Point3d&

What is solvePnP() exactly for? (while i already have the projection matrices P) I already know that solvePnP() finds th

What is solvePnP() exactly for? I already know that solvePnP() finds the position (rotation and translation) of the came

What is solvePnP() exactly for? I already know that solvePnP() finds the position (rotation and translation) of the came

What is solvePnP() exactly for? I already know that solvePnP() finds the position (rotation and translation) of the came

What is solvePnP() exactly for? I already know that solvePnP() finds the position (rotation and translation) of the came

Thank you very much for your answer. To 1. I try to get a 3D reconstruction with the highest resolution, so resizing t

Thank you very much for your answer. To 1. I try to get a 3D reconstruction with the highest resolution, so resizing t

Thank you very much for your answer. I try to get a 3D reconstruction with the highest resolution, so resizing the ima

Thank you very much for your answer. I try to get a 3D reconstruction with the highest resolution, so resizing the ima

3D reconstruction (SFM) with multi-lens camera system (instead of pinhole camera model) 3D reconstruction (especially SF

3D reconstruction (SFM) with multi-lens camera system (instead of pinhole camera model) 3D reconstruction (especially SF

3D reconstruction (SFM) with multi-lens camera system (instead of pinhole camera model) 3D reconstruction (especially SF

Hello,

i don't know why, but i get different results if i first rotate the image and undistort it, or if i first undistort and then rotate it.
There is a very small difference at both results... (In the middle of the image it seems to be same, but at the upper and lower borders of the images the difference is higher)

My minimal code is shown below:

Mat camera_matrix, distCoeffs;

char* out_file = "C:\\Users\\Bob\\Documents\\Visual Studio 2013\\Projects\\Samples\\camera.txt";

FileStorage fs(out_file, FileStorage::READ);
fs["K"] >> camera_matrix;
fs["D"] >> distCoeffs;


//Reading the images
Mat image1 = imread("C:\\Users\\Bob\\Documents\\Visual Studio 2013\\Projects\\Samples\\1.jpg");
Mat image2 = imread("C:\\Users\\Bob\\Documents\\Visual Studio 2013\\Projects\\Samples\\2.jpg");

Mat image1_undistorted, image2_undistorted;
Mat image1_rot, image2_rot, image1_flip, image2_flip;



//First workflow (first undistort image, then turn)
///////////////////////////////////////////////////////////////////////

undistort(image1, image1_undistorted, camera_matrix, distCoeffs);
undistort(image2, image2_undistorted, camera_matrix, distCoeffs);

transpose(image1_undistorted, image1_rot);
flip(image1_rot, image1_undistorted, 0);
transpose(image2_undistorted, image2_rot);
flip(image2_rot, image2_undistorted, 0);

imwrite("image1_undistorted_FIRSTWORKFLOW.jpg", image1_undistorted);
imwrite("image2_undistorted_FIRSTWORKFLOW.jpg", image2_undistorted);



//Second workflow (first turn image, then undistort)
///////////////////////////////////////////////////////////////////////

//Adjusting the camera matrix and distortion coefficients
double fx = camera_matrix.at<double>(0, 0);
double fy = camera_matrix.at<double>(1, 1);
double cx = camera_matrix.at<double>(0, 2);
double cy = camera_matrix.at<double>(1, 2);

camera_matrix.at<double>(0, 0) = fy;
camera_matrix.at<double>(1, 1) = fx;
camera_matrix_new.at<double>(0, 2) = cy;
camera_matrix_new.at<double>(1, 2) = image1.size().width - cx;

double p1 = distCoeffs.at<double>(0, 2);
double p2 = distCoeffs.at<double>(0, 3);

distCoeffs.at<double>(0, 2) = p2;
distCoeffs.at<double>(0, 3) = p1;


transpose(image1, image1_rot);
flip(image1_rot, image1_flip, 0);
transpose(image2, image2_rot);
flip(image2_rot, image2_flip, 0);

undistort(image1_flip, image1_undistorted, camera_matrix, distCoeffs, Mat());
undistort(image2_flip, image2_undistorted, camera_matrix, distCoeffs, Mat());

imwrite("image1_undistorted_SECONDWORKFLOW.jpg", image1_undistorted);
imwrite("image2_undistorted_SECONDWORKFLOW.jpg", image2_undistorted);

The results are shown below:

The first image (both workflow results)

The second image (both workflow results)

---------------------------------------------------------------------------------------------------------------------------------------

And if i calculate the differences of the images resulting from the different workflows, then i get these:

image1_undistorted_FIRSTWORKFLOW - image1_undistorted_SECONDWORKFLOW =

image2_undistorted_FIRSTWORKFLOW - image2_undistorted_SECONDWORKFLOW =

You can see the in the middle of the "difference images" it seems to be there is no difference...
But on the up and down side of the "difference image" there is a bigger difference...

Can someone tell me what im doing wrong? Or why i get different results in both workflows?