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slambook2+ch7+pose_estimation_2d2d+估计多张图像之间的位姿
//// Created by automobile on 2020/7/19.//#include <iostream>#include <fstream>#include <string>#include <vector>#include <chrono>#include <opencv2/opencv.hpp>#include <opencv2/imgproc/imgproc.hpp>#includ原创 2020-07-22 10:48:52 · 359 阅读 · 1 评论 -
Practice1+将无序图像重命名为有序图像+将图像保存到指定文件夹
算法使用cv::glob函数将path下所有文件名称存到filenames中void cv::glob ( String pattern,std::vector< String > & result,bool recursive = false //递归)定义一个图像矩阵src,将原路径下图像逐张赋值给src使用sprintf为每张图像重命名,根据i命名,赋给Rename使用imwrite保存地址和图像名称代码#include <iost原创 2020-07-13 10:27:09 · 211 阅读 · 0 评论 -
slambook2+ch5+图像基本操作(读取像素)
代码#include <iostream>#include <chrono>using namespace std;#include <opencv2/core/core.hpp>#include <opencv2/highgui/highgui.hpp>#include <opencv2/imgproc/imgproc.hpp>int main(int argc, char **argv) { cv::Mat imag原创 2020-07-08 16:31:51 · 921 阅读 · 1 评论 -
slambook2+ch3+Eigen使用
代码#include <iostream>#include <vector>#include <algorithm>#include <Eigen/Core>#include <Eigen/Geometry>using namespace std;using namespace Eigen;int main() { Quaterniond q1(0.35, 0.2, 0.3, 0.1), q2(-0.5, 0.4, -.原创 2020-06-21 11:16:17 · 304 阅读 · 0 评论 -
使用OpenCV匹配多张ORB图片
代码//// Created by wcm on 2020/6/15.//#include <opencv2/opencv.hpp>#include <opencv2/core/core.hpp>#include <opencv2/imgproc/imgproc.hpp>#include <opencv2/features2d/features2d.hpp>#include <opencv2/highgui/highgui.hpp>原创 2020-06-16 16:05:12 · 319 阅读 · 0 评论 -
slambook2+ch7+triangulation+代码理解
//// Created by automobile on 2020/6/9.//#include <iostream>#include <opencv2/opencv.hpp>// #include "extra.h" // used in opencv2using namespace std;using namespace cv;void find_feature_matches( const Mat &img_1, const Mat原创 2020-06-10 18:26:10 · 455 阅读 · 0 评论 -
slambook2+ch7+pose_estimated_2d2d代码理解
//// Created by wcm on 2020/6/6.//#include <iostream>#include <opencv2/core/core.hpp>#include <opencv2/features2d/features2d.hpp>#include <opencv2/highgui/highgui.hpp>#include <opencv2/calib3d/calib3d.hpp>using namesp原创 2020-06-07 16:16:32 · 284 阅读 · 0 评论 -
SIFT、ORB、FAST简单比较
关键点提取SIFT像素点和邻域像素点作比较,得到像素灰度极值为了消除边缘响应,边缘采用Harris角点,FAST/ORB检测像素灰度变化明显的地方特征旋转SIFT计算像素梯度及分布,从而确定旋转角度ORB灰度质心法确定图像块的像素质心,连接几何中心和质心构成向量,根据此向量确定旋转角 theta。将关键点附近像素点对旋转theta。描述子SIFT关键点+描述子(128维float型向量)FAST关键点ORB关键点+描述子(二进制BRIEF向原创 2020-06-07 15:00:55 · 1286 阅读 · 0 评论 -
slambook2+ch7+orb_self代码理解
//// Created by wcm on 2020/6/1.////nmmintrin与SSE指令集有关//SSE指令集提供标量和包裹式浮点运算#include <opencv2/opencv.hpp>#include <string>#include <nmmintrin.h>#include <chrono>using namespace std;//global variablesstring first_file= "/原创 2020-06-06 10:48:28 · 1079 阅读 · 3 评论 -
slambook2+ch7+orb_cv代码修改
@TOC代码部分原创 2020-05-30 22:46:36 · 462 阅读 · 0 评论