RGBD - alalek/opencv GitHub Wiki
This page discusses what utilities OpenCV should have for handling dense depth data
- convert a uint16 Kinect depth image to the float version (divide by 1000 and replace 0/max to NaN)
- go from a depth image to a structured set of points using K (deals with mask and OutputArray). We have code for that in ecto_opencv
- 3d visualizer
- Fast normals/curvature calculation. Ethan has this, completely real time even on a CPU
- Compute R,t, Rodriques, Quarternion to rotate one vector in 3D so that all points in one scene may be rotated to another.
- All these forms should be easily convertible from/to each other.
- Plane segmentation. Kurt on this.
- Template on surface
- First, just take a 2D template and project what it would look like on a surface in a scene, assuming that place of projection is planar
- This is to perspectively warp, say, templates for correlation based mapping
- Next, map the template to the actual surface
- warp a 3d scene from one view point to another as done by Maria
- First, just take a 2D template and project what it would look like on a surface in a scene, assuming that place of projection is planar