Comments (8)
Another idea is providing python example code using OpenCV python interface. We have plan to include OpenCV python + Open3D OdometryRGBD example for #51. In this manner, Open3D does not need to be directly linked to heavy OpenCV.
from open3d.
Working on this issue. But there are few concerns
- Even recent OpenCV distribution only supports Python2.7 (tell me if I am wrong) that might limit our python example.
- We need to include RANSAC+5pt algorithm into Open3D if we go with sparse features. However, the new module will dependent on external feature detector/descriptors. The new module cannot work alone and there is no module like this in Open3D yet.
from open3d.
- OpenCV should support both Python 2.7 and 3.x.
Try the following command if you are using Anaconda.
Actually, I highly recommend that we only test python environment (both 2.7 and 3.x though) of Anaconda. It configures almost everything we need.
conda install -c conda-forge opencv
-
Yes, we need to implement RANSAC and 5pt algorithm. I suppose they should also go into the Odometry module.
-
Please don't touch image.h/cpp, RGBDImage.h/cpp yet. I have a big commit that has massive changes to these files. Will be able to push in tonight. You will do the review for me, 👍
from open3d.
Actually earlier we had a discussion with the OpenCV core development team, and the main recommendation I gave them was to put OpenCV into Anaconda. (Not in the forge. Forge is like the community build support.) I think they will be working on it. So hopefully in the future, cv will be included natively in Anaconda. We just test this environment.
Btw: Anaconda is also the easiest way for setting up TensorFlow. I think everything is converging into it. It won't be a bad choice if we just stick with it.
from open3d.
Some technical issue.
Please check current implementation of 5pt algorithm. (Let me know if you have not privileged to see the code).
Checkout getCoeffMat
function. There is hundreds of hard-coded linear algebra lines that will look not beautiful if they are included in Open3D. The function is not intuitive compared to beautiful Jacobians we have established by chain rule.
It also depends on complex OpenCV function. To name a few solvePoly
, that solves high-order polynomial equations. Open3D does not have mathmatical toolbox for solving such problems. Transferring this heavy OpenCV dependent function will add quite amount of work to our workload.
from open3d.
Wow, for real! Where did you get these equations?
An alternative approach is to replace the 5-pt algorithm with RANSAC. We do RANSAC on ORB features, and compute transformation based on points converted from depth pixels. Does this make sense?
from open3d.
I decided to go with OpenCV python binding as it provides ORB feature + 5pt algorithm. This is handy and we don't have to merge complex 5pt algorithm in Open3D.
I finished writing a code for building fragment. There will be PR regarding this module soon.
from open3d.
This issue handled with #74
from open3d.
Related Issues (20)
- Cannot compile on Windows 10 with MinGW-w64 HOT 2
- Why is the human point cloud generated by my icp algorithm noisy
- How to get a colored ointcloud from RGBD images?
- open3d.visualization.Visualizer.get_render_option() return NoneType Object
- Is the box.GetOrientedBoundingBoxLines() deleted in recent version?
- Open3D-0.18.0\cpp\open3d\ml\impl\continuous_conv\ContinuousConvTranspose.h(73,45): error C2975: “Rows_”:“Eigen::Array”的模板参数无效,应为编译时常量表达式
- Global & Local Registration result not good
- Laggy Open3D Visualizer for Large Point Clouds on Ubuntu 20.04
- Cannot compile for embedded aarch64 without GLFW (and other stuff?) even with BUILD_GUI=OFF
- Implement 3D Gaussian splatting viewer
- 🚀 Upgrade to Embree 4 and add GPU support
- 🚀 Faster UV Unwrapping
- 🚀 Add surface contouring to TriangleMesh
- 🚀 Parallel fast mesh simplification
- Test and integrate oneDAL
- Integrate DNN runtime for running inference in C++
- Complete support for scene graph and add USD I/O
- How can I konw the length of each line in lineset?
- Is it expected behavior for the application to crash when minimized? GUI
- Rebuild well on Windows, but worse in ubuntu, using the same parameters and data
Recommend Projects
-
React
A declarative, efficient, and flexible JavaScript library for building user interfaces.
-
Vue.js
🖖 Vue.js is a progressive, incrementally-adoptable JavaScript framework for building UI on the web.
-
Typescript
TypeScript is a superset of JavaScript that compiles to clean JavaScript output.
-
TensorFlow
An Open Source Machine Learning Framework for Everyone
-
Django
The Web framework for perfectionists with deadlines.
-
Laravel
A PHP framework for web artisans
-
D3
Bring data to life with SVG, Canvas and HTML. 📊📈🎉
-
Recommend Topics
-
javascript
JavaScript (JS) is a lightweight interpreted programming language with first-class functions.
-
web
Some thing interesting about web. New door for the world.
-
server
A server is a program made to process requests and deliver data to clients.
-
Machine learning
Machine learning is a way of modeling and interpreting data that allows a piece of software to respond intelligently.
-
Visualization
Some thing interesting about visualization, use data art
-
Game
Some thing interesting about game, make everyone happy.
Recommend Org
-
Facebook
We are working to build community through open source technology. NB: members must have two-factor auth.
-
Microsoft
Open source projects and samples from Microsoft.
-
Google
Google ❤️ Open Source for everyone.
-
Alibaba
Alibaba Open Source for everyone
-
D3
Data-Driven Documents codes.
-
Tencent
China tencent open source team.
from open3d.