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laxnpander / OpenREALM

OpenREALM is a pipeline for real-time aerial mapping utilizing visual SLAM and 3D reconstruction frameworks.
GNU Lesser General Public License v2.1
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algorithm about SurfaceGeneration #88

Closed tsingjinyun closed 1 year ago

tsingjinyun commented 1 year ago

https://github.com/laxnpander/OpenREALM/blob/master/modules/realm_core/src/camera.cpp#L348 cv::Mat u = (cv::Mat_(3, 1) << img_bounds.at(i, 0), img_bounds.at(i, 1), 1.0); double s = (pt - m_t).dot(n) / (m_R m_K.inv() u).dot(n); cv::Mat p = m_R (s m_K.inv() * u) + m_t; here code use algorithm，has any reference paper?

laxnpander commented 1 year ago

Hmm, not really and can't remember. The second line should be the algebraic form of line -> plane intersection: https://en.wikipedia.org/wiki/Line%E2%80%93plane_intersection The third line is a inverse pinhole projection: https://towardsdatascience.com/inverse-projection-transformation-c866ccedef1c

tsingjinyun commented 1 year ago

thank you, and great project