Realsense
侯增涛
V信号:houzengtao2012
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GLFW按键输入码
key include/GLFW/glfw3.h 中定义的 GLFW_KEY_* 包含一些按键的ASCII码GLFW_KEY_ESCAPEGLFW_KEY_ENTERGLFW_KEY_RIGHTGLFW_KEY_SPACEGLFW_KEY_KP_ADD(334)对应的是键盘右侧数字面板上的+键GLFW_KEY_KP_SUBTRACT(333)对应的是键盘右侧数字面板上的-键GLFW_...原创 2019-12-10 12:50:36 · 2538 阅读 · 0 评论 -
《视觉SLAM十四讲》slambook/ch7/gpose_estimation_3d3d更改成只用Eigen不用非线性优化
例子运行方法:siat@hzt:~/Documents/slambook/ch7$ ./build/pose_estimation_3d3d 1.png 2.png 1_depth.png 2_depth.png因我具体的问题是3点到3点的ICP匹配求相机姿态,所以SVD就够了,不用非线性优化(因里面有g2o库还需要再下载一个,挺大的吧,各种不想用),自己删除了此文件中非线性相关代码,并成功编...原创 2019-12-06 19:02:24 · 603 阅读 · 0 评论 -
Get Baseline和转换外参 (extrinsics)
Get Disparity Baseline:Config cfg = new Config();cfg.EnableStream(Stream.Infrared, 1);cfg.EnableStream(Stream.Infrared, 2);var pipe = new Pipeline();PipelineProfile selection = pipe.Start();var ...原创 2019-11-15 19:57:09 · 507 阅读 · 0 评论 -
深度和追踪最好use the D415 and the T265 in parallel.
All SLAM solutions, and there are many good ones, are limited by the information they receive. It is possible to run host-based SLAM using our D400 series depth cameras – ideally the D435i, however th...原创 2019-11-15 15:17:53 · 315 阅读 · 0 评论 -
realsense D4XX系列相机彩色图像素到空间点的转化原理
realsense D4XX系列相机代码,但原理是通用的。RGB-D相机根据彩色图像素获得空间点/* Given pixel coordinates and depth in an image with no distortion or inverse distortion coefficients, compute the corresponding point in 3D space re...原创 2019-11-15 10:10:23 · 1445 阅读 · 2 评论