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multiview_notebooks's Introduction

Binder

Multiview notebooks

This is a collection of educational notebooks on multi-view geometry and computer vision. Subjects covered in these notebooks include:

  • Camera calibration
  • Perspective projection
  • 3D point triangulation
  • Quaternions as 3D pose representation
  • Perspective-n-point (PnP) algorithm
  • Levenberg–Marquardt optimization
  • Epipolar geometry
  • Relative poses from stereo views
  • Bundle adjustment
  • Structure from motion

How to run

The notebooks can be run in the browser by clicking the binder badge Binder. If one is interested in running the notebooks locally, I highly recommend using Docker as there is a dependency on g2opy and ipyvolume, which are challenging to install.

# Builds the environment 
docker build -t multiview_notebooks .

# Start a jupyter lab which can be opened in the browser
docker run -it --rm -p 8888:8888 multiview_notebooks jupyter-lab --ip=0.0.0.0 --port=8888

After starting the jupyter lab, the notebooks can be found in the home directory.
For the source of the Dockerfile, see this repository

Example of a visualization

Triangulation

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