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如果我们喜欢使用Mac OS上的XCode,执行下面的命令: cmake –G Xcode -DSSBA_LIBRARY_DIR=../3rdparty/SSBA-3.0/build/.. CMake同样可以为Eclipse, Codeblocks,和更多的环境编译宏命令。CMake完成创建编译环境之后,我们准备编译。如果我们正在使用一个Unix-like系统,我们可以简单地执行这个生成工具(the make utility),否则我们应当使用我们开发环境的编译过程。 编译完成之后,我们应当获得了一个执行程序名为Exploring Sf MExex,这用来运行Sf M过程。不带参数运行这个程序会导致如下的显示: USAGE: ./Exploring Sf MExec 为了在图像集上执行这个过程,我们应当提供位置作为驱动来找到图像文件。如果提供了有效的位置,过程开始,我应当看到这个进程和屏幕上的调试信息。程序的结束将显示源于图像的点云。按1和2键,可以切换到调整的(adjusted)点云和非调整的(non-adjusted)点云。 总结——Summary 在这一章,我们已经看到了Open CV是怎样用一个既简单编码又好理解的方式来帮助我们处理来至运动的结构。Open CV的API包含了一些有用的函数和数据结构,这使得我们生活的更加轻松,同样地协助我们有一个更清洁的实现。 然而,最先进的Sf M方法更复杂。那里存在很多问题,我们选择忽略,喜欢简单化,以及在这些地方通常有更多的错误检查。对于不同的Sf M成分,我们选择的方法同样可以再次访问。例如,H和Z提出了一个高精度的三角测量方法,甚至使用N-视图三角测量,曾经他们利用多个图像理解特征之间的关系。 如果我们想延伸和深化熟悉Sf M,当然,我们将从观察其他开源Sf M库中收益。一个特别感兴趣的工程是lib MV,它实现了大量的Sf M成分,通过互换,这可能获得最好的结果。华盛顿大学有一个伟大的作品,为很多类型Sf M(Bundler and Visual Sf M)提供了工具。这项作品的灵感来至于微软的在线产品,称作Photo Synth。网上有很多容易访问到的Sf M的实现,并且一个人仅需来找到更多的Sf M的实现。 我们没有深入讨论的另外一个重要的关系是Sf M和可视化定位以及映射,更好的称为同步定位和映射(SLAM)方法。在这一章,我们已经处理给出的图像集和一个视频序列,并且在这些情况下,使用Sf M是可行的。然而,一些应用没有预记录的数据集并且必须动态时引导重建。这个过程被成为映射,并且当我们正在使用特征匹配和2D跟踪以及三角测量后来创建世界的3D映射时,这个过程被完成。 在下一章,我们将看到如何使用机器学习中的各种技术利用Open CV从图像中提出车牌数字。 参考——References • Multiple View Geometry in Computer Vision, Richard Hartley and Andrew Zisserman, Cambridge University Press • Triangulation, Richard I.

Hartley and Peter Sturm, Computer vision and image understanding, Vol. 146-157 • • On Benchmarking Camera Calibration and Multi-View Stereo for High Resolution Imagery, C.

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