I. Substitute the author's input data into mine:
- Locate the 4 fixed points from the red markers in the Kinect frame, and extract the depth information of each point
- Locate the 4 points in the Hand-held camera frames which corresponding to the 4 fixed points in the Kinect one
- Extract Intrinsic Parameters which is belonging to the Hand-held camera
- Need to think what's the initial position or value used in the Original Source Code - authors choose [1 0 0; 0 1 0; 0 0 1; 0 0 0] as the basis of position for reference in the 3D frame (i.e. in the World Coordinate)
- Debug and maintain my code to be satisfied the EPnP Source Code
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