玩转3D视界 —— 3D机器视觉及其应用

第1 章 引言·············································································································.1
1.1 何为“3D 视界”·······················································································.1
1.2 如何玩转3D 视界······················································································.2
1.3 本书的主要内容·························································································.4
1.3.1 章节内容························································································.4
1.3.2 应用介绍························································································.5
1.4 面向的读者································································································.6
第2 章 3D视界的硬实力与软实力——3D 相机与开发平台·······························.8
2.1 概述············································································································.8
2.2 双目相机··································································································.10
2.2.1 双目相机原理···············································································.10
2.2.2 立体匹配方法···············································································.13
2.3 结构光3D 相机························································································.17
2.3.1 结构光相机原理···········································································.17
2.3.2 结构光的分类···············································································.19
2.3.3 结构光的标定与匹配···································································.21
2.4 ToF 相机···································································································.24
2.4.1 ToF相机的发展历程和分类························································.25
2.4.2 ToF相机原理···············································································.26
2.4.3 ToF的标定与补偿·······································································.32
2.5 三种相机的对比及典型应用···································································.35
2.5.1 三种相机的对比···········································································.35
2.5.2 三种3D 相机的典型应用····························································.37
2.6 DMAPP 开发平台····················································································.42
2.6.1 SmartToF SDK——数据获取与处理···········································.43
2.6.2 DMAPP 架构················································································.47
2.6.3 DMAPP 的特点与优势································································.49
2.7 总结与思考······························································································.49
参考文献···········································································································.50
第3 章 3D数据表示方法·····················································································.51
3.1 概述··········································································································.51
3.2 深度图······································································································.52
3.3 点云··········································································································.55
3.3.1 点云概念介绍···············································································.55
3.3.2 点云数据获取···············································································.56
3.3.3 3D 相机数据与点云的转换·························································.58
3.3.4 点云数据分类及应用···································································.62
3.4 体素··········································································································.64
3.4.1 体素和体数据的概念···································································.64
3.4.2 点云的体素化···············································································.66
3.4.3 体素的应用场景···········································································.67
3.5 三角剖分··································································································.68
3.5.1 三角剖分的概念···