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План заметок

1) Преобразования координат и эпиполярная геометрия

https://docs.opencv.org/4.x/da/de9/tutorial_py_epipolar_geometry.html

https://johnwlambert.github.io/epipolar-geometry/

2) Калибровка камеры

2.1) Теория и простая калибровка 2.2) Существующие схемы калибровки 2.3) Реализация в OpenCV
2.3.1) Reprojection + reprojection error 2.3.2) Distorsion 2.4) Panoramic cameras(?)

https://docs.opencv.org/4.x/d9/d0c/group__calib3d.html#ga687a1ab946686f0d85ae0363b5af1d7b

Особенно интересны разделы:

  • Detailed Description
  • Computes Robot-World/Hand-Eye calibration

https://github.com/wingedrasengan927/Image-formation-and-camera-calibration

Image Formation and Pinhole Model of the Camera https://towardsdatascience.com/image-formation-and-pinhole-model-of-the-camera-53872ee4ee92

Camera Intrinsic Matrix with Example in Python https://towardsdatascience.com/camera-intrinsic-matrix-with-example-in-python-d79bf2478c12

Augmented Reality: Camera Calibration https://www.youtube.com/watch?v=MfZl_kWgEt8&list=PLjYmyjrosnWYEB6TmXfyixuxc7LjYR9Bk&index=11

4) Особенности и детекторы

5) Трехмерная реконструкция

Structure from Motion https://cmsc426.github.io/

https://cmsc426.github.io/sfm

https://cmsc426.github.io/gtsam/

https://cmsc426.github.io/2020/proj/p4/

https://imkaywu.github.io/tutorials/sfm/

https://www.cc.gatech.edu/classes/AY2016/cs4476_fall/results/proj3/html/akumar401/index.html

6) Задача оптимизации

pose graphs

https://gtsam.org/get_started/

Вспомогательные материалы

https://dfki-ric.github.io/pytransform3d/index.html

https://github.com/dfki-ric/pytransform3d

Computer Vision: A Modern Approach (2nd) by Forsyth Ponce

Programming Computer Vision with Python: Tools and algorithms for analyzing images by Jan Solem

https://github.com/nico/cvbook