sigmoid90's profile - activity

Problem with undistortPoints() function in pose estimation of image I have written about my task here. I have a set of

@berak I solved the issue using this solution. I suppose now to calculate camera pose for the query image using the pose

Updated the question as well.

Problem with building pose Mat from rotation and translation matrices I have two images captured in the same space (scen

thank you. Code for the method buildPoseMat: struct Pose { Pose(Mat _R, vector<float>_t) : R(_R) { t

Problem with building pose Mat from rotation and translation matrices I have two images captured in the same space (scen

Problem with building pose Mat from rotation and translation matrices I have two images captured in the same space (scen

Thank you very much for support. I will try it.

@berak I suppose to use these view images to get camera pose of the query image. My intuition is to calculate some keypo

thank you. I can give a part of task description "a user will have the ability to create 3D tours from their mobile devi

@berak I really need your help here. What do you mean by 'have one more transformation in the way'? I see the projecting

@Eduardo Thank you for the algorithm! How I can project the pointcloud using an intrinsics matrix and what data should I

Pose estimation of image from a point cloud I have a 3D point cloud of scene, its set of views with known poses and a ne

I have another idea to match the query image to image views of scene with known poses and use SolvePnP method. Here is d

Ok. I will try this. But this approach will not be automatic. It will require manual marking of points once we get new q

Ok. I see. Btw I will get a dense point cloud of scene so no worries about holes. But how about the projecting the point

Ok. I see. Btw I will get a dense point cloud of scene so no worries about holes. But how about the projecting the point

Ok. I see. Btw I will get a dense point cloud of scene so no worries about holes. But how about the projecting the point

i'm somehow smelling an XY problem here. What do you mean? More relates to images? how are those 2 things connected ?

Thank you. I see. So is there a way to effectively match the query image with the point cloud of scene?

I also tried this method to project unorganized point cloud to image. However it failed with Segmentation fault error

so, some "structure from motion" approach ? tell us more, this is important (or at least, interesting) ! I think yes. T

Thank you for answer. It's a reconstructed point cloud out of photos from phone camera. My task is to recover the camera

I added a snapshot of my scene point cloud and other 2d image.

Projecting point cloud to image plane in order to estimate camera pose I am working on a task of image registration in p

@berak I have Meshlab. Is it possible to render the cloud to an image using meshlab?

Btw pcl_mesh2pcd gives me Segmentation fault (vtkPLYReader (0xe0f6e0): Cannot read geometry)

printing out the 1st 2 lines of my scene_mat gives this: [0.021613657, 0.60601699, -1.5027865, 0.72544974, 0.53804189,

I have updated the question with listing header an d few data lines in this PLY file. The size() is the size of the scen

Converting Mat of point cloud mesh to vector<cv::point3d> My task is to project a point cloud of a scene to a plan

Converting Mat of point cloud mesh to vector<cv::point3d> My task is to project a point cloud of a scene to a plan

Projecting point cloud to image plane in order to estimate camera pose I am working on a task of image registration in p

@berak I have an idea to project point cloud of scene to a plane image and match the query image against that image. Cou

@berak I got an idea to solve the matching problem. I can split point cloud of scene into a set of images associated wit

Thank you. I see this approach is the most suitable in my case and I will try to overcome the issues you remind above.

My task is to register image from camera to point cloud of scene using C++. My intuition here is to calculate ORB descriptors on both camera image and point cloud of scene so I can obtain point correspondences btw them and apply SolvePnP function to estimate the camera pose. I following this tutorial. I load the point cloud of scene in PLY format to cv::Mat and try to calculate ORB decriptors on it. Resultant Mat object has single channel. Here is my code:

Mat scene_mat = loadPLYSimple("a_cloud.ply", 1);

vector<KeyPoint> kp1, kp2;
Mat des1, des2;
Ptr<Feature2D> orb = ORB::create();

orb->detectAndCompute(scene_mat, Mat(), kp2, des2);

When run this code I get error

OpenCV Error: Assertion failed (scn == 3 || scn == 4) in cvtColor, file /home/vladimir/opencv/modules/imgproc/src/color.cpp, line 7564 terminate called after throwing an instance of 'cv::Exception'

What is the problem with this code? Is this correct way to calculate ORB descriptors on point cloud?

I have image from camera, 3D point cloud of scene and camera calibration data (i.e. focal length, principal center point

ok. Is there a way to obtain camera pose for an image if I have camera calibration data?

ok. Do you know another way around?

I see. I can't add any markers to the scene. I only given point cloud of scene and image from camera. My goal is to obta