3D点云图构建实验

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  • 2022-04-28 05:16
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3D点云图构建实验指导书和源码,根据五张RGB图片和五张深度图片,构建3D点云图
3D点云图构建实验.rar
  • Lab4_JoinMap
  • depth
  • 5.pgm
    600KB
  • 3.pgm
    600KB
  • 4.pgm
    600KB
  • 1.pgm
    600KB
  • 2.pgm
    600KB
  • color
  • 4.png
    414.1KB
  • 3.png
    409.1KB
  • 5.png
    420.2KB
  • 1.png
    434.2KB
  • 2.png
    436.4KB
  • pose.txt
    346B
  • CMakeLists.txt
    516B
  • joinMap.cpp
    3.3KB
  • 实验4 移动机器人的视觉3D点云图构建和深度测量实验.pdf
    571.7KB
内容介绍
<html xmlns="http://www.w3.org/1999/xhtml"> <head> <meta charset="utf-8"> <meta name="generator" content="pdf2htmlEX"> <meta http-equiv="X-UA-Compatible" content="IE=edge,chrome=1"> <link rel="stylesheet" href="https://static.pudn.com/base/css/base.min.css"> <link rel="stylesheet" href="https://static.pudn.com/base/css/fancy.min.css"> <link rel="stylesheet" href="https://static.pudn.com/prod/directory_preview_static/6269b2a70990925c045a0b7a/raw.css"> <script src="https://static.pudn.com/base/js/compatibility.min.js"></script> <script src="https://static.pudn.com/base/js/pdf2htmlEX.min.js"></script> <script> try{ pdf2htmlEX.defaultViewer = new pdf2htmlEX.Viewer({}); }catch(e){} </script> <title></title> </head> <body> <div id="sidebar" style="display: none"> <div id="outline"> </div> </div> <div id="pf1" class="pf w0 h0" data-page-no="1"><div class="pc pc1 w0 h0"><img class="bi x0 y0 w1 h1" alt="" 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class="ff1">&#21452;&#30446;&#35270;&#35273;&#31995;&#32479;&#26631;<span class="_ _3"></span>&#23450;&#19982;&#28145;&#24230;&#27979;&#37327;<span class="ff2">(<span class="_ _3"></span><span class="ff1">&#36873;&#20570;<span class="ff2">) </span></span></span></span></div><div class="t m0 x1 h5 ye ff1 fs2 fc0 sc1 ls0 ws0">&#23454;&#39564;&#35774;&#22791;&#65306;<span class="_ _2"></span><span class="ff3 sc0"> </span></div><div class="t m0 x1 h6 yf ff1 fs3 fc0 sc0 ls0 ws0">&#33258;&#24102;&#31508;&#35760;&#26412;<span class="ff2"> <span class="_ _0"> </span>PC<span class="_"> </span></span>&#26426;&#25668;&#20687;&#22836;<span class="_ _3"></span><span class="ff2">/USB<span class="_"> </span><span class="ff1">&#25668;&#20687;&#22836;&#65292;&#23433;&#35013;<span class="_ _0"> </span></span>U<span class="_ _3"></span>buntu14.04<span class="_"> </span><span class="ff1">&#25110;&#20197;&#19978;&#31995;&#32479;&#65292;</span>O<span class="_ _3"></span>p<span class="_ _2"></span>e<span 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ws0"> </div><div class="t m0 x1 h6 y17 ff2 fs3 fc0 sc0 ls0 ws0">Color<span class="_"> </span><span class="ff1">&#21644;<span class="_ _0"> </span></span>depth<span class="_"> </span><span class="ff1">&#25991;&#20214;&#22841;&#19979;<span class="_ _3"></span>&#20998;&#21035;&#25918;&#32622;&#20102;<span class="_ _0"> </span><span class="ff2">5<span class="_"> </span></span>&#24352;&#24425;&#33394;&#21644;<span class="_ _3"></span>&#28145;&#24230;&#22270;&#65292;<span class="_ _5"></span>&#21462;&#33258;&#21516;&#19968;&#20010;<span class="_ _0"> </span><span class="ff2">RGB-D<span class="_"> </span></span>&#25668;&#20687;&#26426;&#65292;<span class="_ _5"></span>&#25353;&#24207;&#21495;</span></div><div class="t m0 x1 h6 y18 ff1 fs3 fc0 sc0 ls0 ws0">&#37197;&#23545;&#65307;<span class="ff2"> </span></div><div class="t m0 x1 h6 y19 ff2 fs3 fc0 sc0 ls0 ws0">CMakeList.txt <span class="_"> </span><span class="ff1">&#20026;&#32534;&#35793;&#37197;<span class="_ 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class="ff1">&#65292;</span>(<span class="ff1">&#30001;<span class="_ _0"> </span></span>17<span class="_"> </span><span class="ff1">&#32423;&#32599;&#24314;&#27946;&#19982;<span class="_ _3"></span>&#33539;&#28059;&#21516;&#23398;&#27979;&#35797;&#39564;&#35777;&#65292;&#24863;&#35874;<span class="ff2">^_^)<span class="_ _3"></span> </span></span></span></div><div class="t m0 x6 h6 y1e ff1 fs3 fc0 sc0 ls0 ws0">&#65288;&#21442;&#32771;&#65289;&#20381;&#36182;&#65306;<span class="ff2"> <span class="_ _6"> </span> </span></div><div class="t m0 x7 h8 y1f ff4 fs3 fc2 sc0 ls0 ws0">sudo <span class="_ _7"> </span>apt-get <span class="_ _7"> </span>install <span class="_ _7"> </span>build-<span class="_ _3"></span>essential <span class="_ _7"> </span>cmake <span class="_ _7"> </span>libgtk2.<span class="_ _3"></span>0-dev <span class="_ _7"> </span>libvtk5-dev <span class="_ _7"> </span>libjpeg-d<span class="_ _3"></span>ev </div><div class="t m0 x7 h8 y20 ff4 fs3 fc2 sc0 ls0 ws0">libtiff4-dev libjasp<span class="_ _3"></span>er-dev libtbb-dev libo<span class="_ _3"></span>penexr-dev<span class="_ _3"></span> </div><div class="t m0 x1 h6 y21 ff1 fs3 fc0 sc0 ls0 ws0">&#23454;&#39564;&#20363;&#31243;&#20351;&#29992;<span class="_ _6"> </span><span class="ff2">o<span class="_ _2"></span>pencv3<span class="_ _3"></span>, <span class="_"> </span><span class="ff1">&#22914;&#26524;&#24050;&#32463;&#23433;&#35013;&#36807;<span class="_ _6"> </span></span>o<span class="_ _2"></span>pencv2,<span class="ff1">&#21487;&#20197;&#21442;&#32771;<span class="_ _3"></span>&#20197;&#19979;&#38142;&#25509;<span class="ff2">,</span>&#65306;<span class="ff2"> </span></span></span></div><div class="t m0 x1 h6 y22 ff2 fs3 fc0 sc0 ls0 ws0">opencv2<span class="_"> </span><span class="ff1">&#21644;<span class="_ _0"> </span></span>opencv<span class="_ _3"></span>3<span class="_"> </span><span class="ff1">&#20849;&#23384;&#23433;&#35013;</span> <span class="_"> </span><span class="ff5 fs2 fc2">http://blog.csdn.<span class="_ _2"></span>net/th<span class="_ _3"></span>ornsuge/<span class="_ _2"></span>article/details/71<span class="_ _8"></span>171272 </span></div><div class="t m0 x8 h7 y23 ff2 fs3 fc0 sc0 ls0 ws0"> </div><div class="t m0 x1 h6 y24 ff3 fs3 fc0 sc0 ls0 ws0">2. <span class="_"> </span><span class="ff1 sc1">&#23433;&#35013;&#24182;&#29087;&#24713;&#32447;&#24615;&#20195;&#25968;&#36816;&#31639;&#24211;<span class="_ _0"> </span></span>Eigen </div><div class="t m0 x4 h9 y25 ff1 fs3 fc0 sc0 ls0 ws0">Eigen<span class="_ _5"></span>&#65288;http://eigen.tux<span class="_ _3"></span>family.org&#65289;<span class="_ _5"></span>&#26159;&#24120;<span class="ff6">&#12132;</span>&#30340; C++ &#30697;&#38453;&#36816;&#31639;<span class="_ _3"></span>&#24211;&#65292;<span class="_ _5"></span>&#20855;&#26377;&#24456;<span class="ff6">&#12220;</span>&#30340;&#36816;&#31639;&#25928;</div><div class="t m0 x1 h9 y26 ff1 fs3 fc0 sc0 ls0 ws0">&#29575;<span class="_ _2"></span>&#12290;<span class="_ _2"></span>&#22823;<span class="_ _9"></span>&#37096;<span class="_ _2"></span>&#20998;<span class="_ _2"></span>&#38656;<span class="_ _2"></span>&#35201;<span class="_ _2"></span>&#22312;<span class="_ _2"></span> <span class="_ _9"></span>C++ &#20013;<span class="_ _9"></span>&#20351;<span class="_ _2"></span><span class="ff6">&#12132;<span class="_ _2"></span></span>&#30697;<span class="_ _2"></span>&#38453;<span class="_ _2"></span>&#36816;<span class="_ _2"></span>&#31639;<span class="_ _2"></span>&#30340;<span class="_ _9"></span>&#24211;<span class="_ _2"></span>&#65292;<span class="_ _2"></span>&#37117;<span class="_ _2"></span>&#20250;<span class="_ _2"></span>&#36873;<span class="_ _2"></span><span class="ff6">&#12132;<span class="_ _9"></span></span> <span class="_ _2"></span>Eigen <span class="_ _2"></span>&#20316;<span class="_ _2"></span>&#20026;<span class="_ _2"></span>&#22522;<span class="_ _2"></span>&#26412;<span class="_ _2"></span>&#20195;<span class="_ _2"></span>&#25968;<span class="_ _2"></span>&#24211;<span class="_ _9"></span>&#65292;<span class="_ _2"></span>&#20363;<span class="_ _2"></span>&#22914; </div><div class="t m0 x1 h6 y27 ff1 fs3 fc0 sc0 ls0 ws0">Google Tensorf<span class="_ _3"></span>low&#65292;Google Cere<span class="_ _3"></span>s&#65292;GTSAM &#31561;&#65292;&#36890;&#36807;&#20197;&#19979;<span class="_ _3"></span>&#21629;&#20196;&#23433;&#35013;&#65292;&#24182;<span class="sc1">&#26597;&#25214;&#20363;&#31243;&#65292;&#23450;&#20041;&#30697;</span></div></div><div class="pi" data-data='{"ctm":[1.568627,0.000000,0.000000,1.568627,0.000000,0.000000]}'></div></div> </body> </html>
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