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‎README.md‎

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@@ -5,7 +5,7 @@ In addition to tutorial slides, example codes are provided in the purpose of edu
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* Download [tutorial slides](https://github.com/sunglok/3dv_tutorial/releases/download/misc/3dv_slides.pdf)
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* Download [example codes in a ZIP file](https://github.com/sunglok/3dv_tutorial/archive/master.zip)
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* Check [how to run example codes](https://github.com/sunglok/3dv_tutorial/blob/master/HOWTO_RUN.md)
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* Read [how to run example codes](https://github.com/sunglok/3dv_tutorial/blob/master/HOWTO_RUN.md)
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### What does its name come from?
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* The main title, _An Invitation to 3D Vision_, came from [a legendary book by Yi Ma, Stefano Soatto, Jana Kosecka, and Shankar S. Sastry](http://vision.ucla.edu/MASKS/). We wish that our tutorial will be the first gentle invitation card for beginners to 3D vision and its applications.
@@ -14,22 +14,22 @@ In addition to tutorial slides, example codes are provided in the purpose of edu
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### Examples
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* __Single-view Geometry__
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* Camera Projection Model
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* Object Localization and Measurement: [object_localization.cpp][] (result)
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* Image Formation: [image_formation.cpp][] (result: [0](https://drive.google.com/file/d/0B_iOV9kV0whLY2luc05jZGlkZ2s/view?usp=sharing), [1](https://drive.google.com/file/d/0B_iOV9kV0whLS3M4S09ZZHpjTkU/view?usp=sharing), [2](https://drive.google.com/file/d/0B_iOV9kV0whLV2dLZHd0MmVkd28/view?usp=sharing), [3](https://drive.google.com/file/d/0B_iOV9kV0whLS1ZBR25WekpMYjA/view?usp=sharing), [4](https://drive.google.com/file/d/0B_iOV9kV0whLYVB0dm9Fc0dvRzQ/view?usp=sharing))
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* Geometric Distortion Correction: [distortion_correction.cpp][] ([result](https://www.youtube.com/watch?v=HKetupWh4V8))
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* Object Localization and Measurement: [object_localization.cpp][] (result: [image](https://drive.google.com/open?id=10Lche-1HHazDeohXEQK443ruDTAmIO4E))
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* Image Formation: [image_formation.cpp][] (result: [image0](https://drive.google.com/file/d/0B_iOV9kV0whLY2luc05jZGlkZ2s/view), [image1](https://drive.google.com/file/d/0B_iOV9kV0whLS3M4S09ZZHpjTkU/view), [image2](https://drive.google.com/file/d/0B_iOV9kV0whLV2dLZHd0MmVkd28/view), [image3](https://drive.google.com/file/d/0B_iOV9kV0whLS1ZBR25WekpMYjA/view), [image4](https://drive.google.com/file/d/0B_iOV9kV0whLYVB0dm9Fc0dvRzQ/view))
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* Geometric Distortion Correction: [distortion_correction.cpp][] (result: [video](https://www.youtube.com/watch?v=HKetupWh4V8))
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* General 2D-3D Geometry
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* Camera Calibration: [camera_calibration.cpp][] ([result](https://drive.google.com/file/d/0B_iOV9kV0whLZ0pDbWdXNWRrZ00/view?usp=sharing))
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* Camera Pose Estimation (Chessboard): [pose_estimation_chessboard.cpp][] ([result](https://www.youtube.com/watch?v=4nA1OQGL-ig))
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* Camera Calibration: [camera_calibration.cpp][] (result: [text](https://drive.google.com/file/d/0B_iOV9kV0whLZ0pDbWdXNWRrZ00/view))
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* Camera Pose Estimation (Chessboard): [pose_estimation_chessboard.cpp][] (result: [video](https://www.youtube.com/watch?v=4nA1OQGL-ig))
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* Camera Pose Estimation (Book): [pose_estimation_book1.cpp][]
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* Camera Pose Estimation and Calibration: [pose_estimation_book2.cpp][]
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* Camera Pose Estimation and Calibration w/o Initially Given Camera Parameters: [pose_estimation_book3.cpp][] ([result](https://www.youtube.com/watch?v=GYp4h0yyB3Y))
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* Camera Pose Estimation and Calibration w/o Initially Given Camera Parameters: [pose_estimation_book3.cpp][] (result: [video](https://www.youtube.com/watch?v=GYp4h0yyB3Y))
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* __Two-view Geometry__
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* Planar 2D-2D Geometry (Projective Geometry)
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* Perspective Distortion Correction: [perspective_correction.cpp][] (result: [original](https://drive.google.com/file/d/0B_iOV9kV0whLVlFpeFBzYWVadlk/view?usp=sharing), [rectified](https://drive.google.com/file/d/0B_iOV9kV0whLMi1UTjN5QXhnWFk/view?usp=sharing))
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* Planar Image Stitching: [image_stitching.cpp][] ([result](https://drive.google.com/file/d/0B_iOV9kV0whLOEQzVmhGUGVEaW8/view?usp=sharing))
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* 2D Video Stabilization: [video_stabilization.cpp][] ([result](https://www.youtube.com/watch?v=be_dzYicEzI))
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* Perspective Distortion Correction: [perspective_correction.cpp][] (result: [original](https://drive.google.com/file/d/0B_iOV9kV0whLVlFpeFBzYWVadlk/view), [rectified](https://drive.google.com/file/d/0B_iOV9kV0whLMi1UTjN5QXhnWFk/view))
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* Planar Image Stitching: [image_stitching.cpp][] (result: [image](https://drive.google.com/file/d/0B_iOV9kV0whLOEQzVmhGUGVEaW8/view))
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* 2D Video Stabilization: [video_stabilization.cpp][] (result: [video](https://www.youtube.com/watch?v=be_dzYicEzI))
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* General 2D-2D Geometry (Epipolar Geometry)
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* Monocular Visual Odometry (Epipolar Version): [visual_odometry_epipolar.cpp][]
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* Visual Odometry (Monocular, Epipolar Version): [vo_epipolar.cpp][]
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* Triangulation (Two-view Reconstruction): [triangulation.cpp][]
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* __Multi-view Geometry__
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* Bundle Adjustment
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* Global SfM: [sfm_global.cpp][]
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* Incremental SfM: [sfm_inc.cpp][]
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* Feature-based Visual Odometry and SLAM
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* Epipolar Version: [visual_odometry_epipolar.cpp][]
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* Stereo Version
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* PnP and BA Version
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* SLAM Version
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* Visual Odometry (Monocular, Epipolar Version): [vo_epipolar.cpp][]
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* Visual Odometry (Stereo Version)
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* Visual Odometry (Monocular, PnP and BA Version)
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* Visual SLAM (Monocular Version)
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* Direct Visual Odometry and SLAM
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* Visual Odometry (Monocular, Direct Version)
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* c.f. The above examples need [Ceres Solver][] for bundle adjustment.
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* __Correspondence Problem__
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* Line Fitting with RANSAC: [line_fitting_ransac.cpp][]
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* Line Fitting with M-estimators: [line_fitting_m_est.cpp][]
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* **Appendix**
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* Line Fitting
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* Planar Homograph Estimation
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* Fundamental Matrix Estimation
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@@ -88,7 +90,7 @@ The authors thank the following contributors and projects.
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[perspective_correction.cpp]: https://github.com/sunglok/3dv_tutorial/blob/master/src/perspective_correction.cpp
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[image_stitching.cpp]: https://github.com/sunglok/3dv_tutorial/blob/master/src/image_stitching.cpp
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[video_stabilization.cpp]: https://github.com/sunglok/3dv_tutorial/blob/master/src/video_stabilization.cpp
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[visual_odometry_epipolar.cpp]: https://github.com/sunglok/3dv_tutorial/blob/master/src/visual_odometry_epipolar.cpp
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[vo_epipolar.cpp]: https://github.com/sunglok/3dv_tutorial/blob/master/src/vo_epipolar.cpp
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[triangulation.cpp]: https://github.com/sunglok/3dv_tutorial/blob/master/src/triangulation.cpp
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[bundle_adjustment_global.cpp]: https://github.com/sunglok/3dv_tutorial/blob/master/src/bundle_adjustment_global.cpp
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[bundle_adjustment_inc.cpp]: https://github.com/sunglok/3dv_tutorial/blob/master/src/bundle_adjustment_inc.cpp

‎msvs/3dv_tutorial.sln‎

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# Visual Studio Version 16
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VisualStudioVersion = 16.0.29215.179
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MinimumVisualStudioVersion = 10.0.40219.1
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Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "video_stabilization", "video_stabilization\video_stabilization.vcxproj", "{5CCD570B-06A1-48B8-A7EF-756587CA45C0}"
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Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "vo_epipolar", "vo_epipolar\vo_epipolar.vcxproj", "{5549C427-BA0F-48AF-B3A0-029A8B57E71F}"
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EndProject
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Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "visual_odometry_epipolar", "visual_odometry_epipolar\visual_odometry_epipolar.vcxproj", "{5549C427-BA0F-48AF-B3A0-029A8B57E71F}"
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Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "video_stabilization", "video_stabilization\video_stabilization.vcxproj", "{5CCD570B-06A1-48B8-A7EF-756587CA45C0}"
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EndProject
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Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "triangulation", "triangulation\triangulation.vcxproj", "{F3C46820-CF91-48EF-94E1-5ADB573D8D8B}"
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EndProject
@@ -47,14 +47,14 @@ Global
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Release|x64 = Release|x64
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EndGlobalSection
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GlobalSection(ProjectConfigurationPlatforms) = postSolution
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{5CCD570B-06A1-48B8-A7EF-756587CA45C0}.Debug|x64.ActiveCfg = Debug|x64
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{5CCD570B-06A1-48B8-A7EF-756587CA45C0}.Debug|x64.Build.0 = Debug|x64
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{5CCD570B-06A1-48B8-A7EF-756587CA45C0}.Release|x64.ActiveCfg = Release|x64
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{5CCD570B-06A1-48B8-A7EF-756587CA45C0}.Release|x64.Build.0 = Release|x64
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{5549C427-BA0F-48AF-B3A0-029A8B57E71F}.Debug|x64.ActiveCfg = Debug|x64
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{5549C427-BA0F-48AF-B3A0-029A8B57E71F}.Debug|x64.Build.0 = Debug|x64
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{5549C427-BA0F-48AF-B3A0-029A8B57E71F}.Release|x64.ActiveCfg = Release|x64
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{5549C427-BA0F-48AF-B3A0-029A8B57E71F}.Release|x64.Build.0 = Release|x64
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{5CCD570B-06A1-48B8-A7EF-756587CA45C0}.Debug|x64.ActiveCfg = Debug|x64
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{5CCD570B-06A1-48B8-A7EF-756587CA45C0}.Debug|x64.Build.0 = Debug|x64
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{5CCD570B-06A1-48B8-A7EF-756587CA45C0}.Release|x64.ActiveCfg = Release|x64
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{5CCD570B-06A1-48B8-A7EF-756587CA45C0}.Release|x64.Build.0 = Release|x64
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{F3C46820-CF91-48EF-94E1-5ADB573D8D8B}.Debug|x64.ActiveCfg = Debug|x64
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{F3C46820-CF91-48EF-94E1-5ADB573D8D8B}.Debug|x64.Build.0 = Debug|x64
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{F3C46820-CF91-48EF-94E1-5ADB573D8D8B}.Release|x64.ActiveCfg = Release|x64

msvs/visual_odometry_epipolar/visual_odometry_epipolar.vcxproj renamed to msvs/vo_epipolar/vo_epipolar.vcxproj

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</Link>
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</ItemDefinitionGroup>
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<ItemGroup>
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<ClCompile Include="..\..\src\visual_odometry_epipolar.cpp" />
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<ClCompile Include="..\..\src\vo_epipolar.cpp" />
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</ItemGroup>
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<Import Project="$(VCTargetsPath)\Microsoft.Cpp.targets" />
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<ImportGroup Label="ExtensionTargets">

msvs/visual_odometry_epipolar/visual_odometry_epipolar.vcxproj.user renamed to msvs/vo_epipolar/vo_epipolar.vcxproj.user

File renamed without changes.

‎src/sfm_global.cpp‎

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printf("3DV Tutorial: Camera %zd's (f, cx, cy) = (%.3f, %.1f, %.1f)\n", j, cameras[j][6], cameras[j][7], cameras[j][8]);
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// Store the 3D points to an XYZ file
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FILE* fpts = fopen("sfm_global(point).txt", "wt");
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FILE* fpts = fopen("sfm_global(point).xyz", "wt");
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if (fpts == NULL) return -1;
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for (size_t i = 0; i < Xs.size(); i++)
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{

‎src/sfm_inc.cpp‎

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printf("3DV Tutorial: Camera %zd's (f, cx, cy) = (%.3f, %.1f, %.1f)\n", j, cameras[j][6], cameras[j][7], cameras[j][8]);
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// Store the 3D points to an XYZ file
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FILE* fpts = fopen("sfm_inc(point).txt", "wt");
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FILE* fpts = fopen("sfm_inc(point).xyz", "wt");
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if (fpts == NULL) return -1;
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for (size_t i = 0; i < Xs.size(); i++)
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{

src/visual_odometry_epipolar.cpp renamed to src/vo_epipolar.cpp

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int min_inlier_num = 100;
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// Open a file to write camera trajectory
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FILE* camera_traj = fopen("visual_odometry_epipolar.xyz", "wt");
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FILE* camera_traj = fopen("vo_epipolar.xyz", "wt");
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if (camera_traj == NULL) return -1;
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// Open a video and get the initial image

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