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update readme

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Kai-46 2020-11-13 19:47:03 -05:00
parent d893b217ef
commit 6ba0418146
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README.md
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@ -78,7 +78,7 @@ Check `camera_visualizer/visualize_cameras.py` for visualizing cameras in 3D. It
## Inspect camera parameters ## Inspect camera parameters
You can use `camera_inspector/inspect_epipolar_geometry.py` to inspect if the camera paramters are correct and follow the Opencv convention assumed by this codebase. The script creates a viewer for visually inspecting epipolar geometry like below: for key points in the top image, it plots their correspoinding epipolar lines in the bottom image. If the epipolar geometry does not look correct in this visualization, it's likely that there are some issues with the camera parameters. You can use `camera_inspector/inspect_epipolar_geometry.py` to inspect if the camera paramters are correct and follow the Opencv convention assumed by this codebase. The script creates a viewer for visually inspecting epipolar geometry like below: for key points in the top image, it plots their correspoinding epipolar lines in the bottom image. If the epipolar geometry does not look correct in this visualization, it's likely that there are some issues with the camera parameters.
<img src="camera_inspector/screenshot.png" width="280"> <img src="camera_inspector/screenshot.png" width="600">

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camera_inspector/inspect_epipolar_geometry.py
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@ -50,8 +50,8 @@ def inspect(img1, K1, W2C1, img2, K2, W2C2):
img1, img2 = drawpointslines(img1, pts1, img2, lines2, colors) img1, img2 = drawpointslines(img1, pts1, img2, lines2, colors)
im_to_show = np.concatenate((img1, img2), axis=0) im_to_show = np.concatenate((img1, img2), axis=1)
# down sample # down sample to fit screen
h, w = im_to_show.shape[:2] h, w = im_to_show.shape[:2]
im_to_show = cv2.resize(im_to_show, (int(0.5*w), int(0.5*h)), interpolation=cv2.INTER_AREA) im_to_show = cv2.resize(im_to_show, (int(0.5*w), int(0.5*h)), interpolation=cv2.INTER_AREA)
cv2.imshow('epipolar geometry', im_to_show) cv2.imshow('epipolar geometry', im_to_show)

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camera_inspector/screenshot.png
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