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Vision 3D Practices Repository

This repository contains a collection of tools, implementations, and tutorials developed for 3D vision and image processing tasks. The project focuses on practical exercises, including camera calibration, stereo vision, edge detection, and image manipulation.

Features

  • Camera calibration and visualization of 3D objects.
  • Stereo camera calibration and rectification.
  • Disparity map generation and 3D reconstruction.
  • Image processing utilities such as filtering, color conversion, and histogram computation.
  • Comprehensive video tutorials for guided learning.

Prerequisites

  • CMake (minimum version 3.0)
  • OpenCV (minimum version 4.x)
  • A C++ compiler (e.g., GCC, Clang)

Build Instructions

  1. Clone the repository and navigate to the project directory: 
    git clone <repository-url>
cd <repository-directory>
  2. Build the project: 
    mkdir build
cd build
cmake ..
make

Key Tools and Applications

Camera Calibration and 3D Visualization

  • Visualizes a 3D axis and places objects on a calibration pattern.
  • Run Commands: 
    ./camera_calibration ../calibration intrinsics.yml
./augReal 3 ../intrinsics.yml ../video/augreal.mp4

Stereo Calibration and Rectification

  • Performs stereo camera calibration and checks rectification quality.
  • Run Commands: 
    ./stereo_calibrate ../calibration/ ../calibration/out.yml
./stereo_checkundistorted ../calibration/m001.jpg ../stereoparms.yml

Disparity and Sparse 3D Reconstruction

  • Generates disparity maps and performs sparse 3D reconstruction.
  • Run Commands: 
    ./stereo_disparity stereo_image.jpg calibration.yml out.obj
./stereo_sparse stereo_image.jpg calibration.yml out.obj

Image Processing Utilities

  • Includes tools for filtering, color balancing, histogram computation, and edge detection.
  • Covers advanced image enhancement and transformation techniques.

Video Tutorials

Detailed walkthroughs are available for all tasks and implementations.

Video Links and Chapters

Video 1

https://youtu.be/99BAqCQkwGk

  • fsiv_find_min_max_loc_1
  • fsiv_find_min_max_loc_2
  • show_extremes

Video 2

https://youtu.be/u_YK6rNgAtk

  • fsiv_convert_image_byte_to_float
  • fsiv_convert_image_float_to_byte
  • fsiv_cbg_process

Video 3

https://youtu.be/jsuDr2BYWz4

  • fsiv_color_rescaling
  • fsiv_gray_world_color_balance
  • fsiv_compute_image_histogram

Video 4

https://youtu.be/czKYyx4K6NE

  • fsiv_create_box_filter
  • fsiv_create_gaussian_filter
  • fsiv_filter2D

Video 5

https://youtu.be/BMcMNRkbDj4

  • fsiv_compute_gradient_magnitude
  • fsiv_percentile_edge_detector
  • fsiv_canny_edge_detector