├── 1 ├── calibration_data │ ├── artras │ │ ├── 1.png │ │ ├── 10.png │ │ ├── 11.png │ │ ├── 12.png │ │ ├── 2.png │ │ ├── 3.png │ │ ├── 4.png │ │ ├── 5.png │ │ ├── 6.png │ │ ├── 7.png │ │ ├── 8.png │ │ ├── 9.png │ │ ├── camera.yml │ │ └── image_list.xml │ └── asus │ │ ├── 1.png │ │ ├── 10.png │ │ ├── 11.png │ │ ├── 12.png │ │ ├── 13.png │ │ ├── 14.png │ │ ├── 15.png │ │ ├── 2.png │ │ ├── 3.png │ │ ├── 4.png │ │ ├── 5.png │ │ ├── 6.png │ │ ├── 7.png │ │ ├── 8.png │ │ ├── 9.png │ │ ├── camera.yml │ │ └── image_list.xml ├── data │ └── asus │ │ ├── cloud.pcd │ │ ├── depth.png │ │ └── rgb.png ├── readyaml.py ├── readyaml.pyc └── slamBase.py ├── 2 ├── calibration_data │ └── asus │ │ ├── 1.png │ │ ├── 10.png │ │ ├── 11.png │ │ ├── 12.png │ │ ├── 13.png │ │ ├── 14.png │ │ ├── 15.png │ │ ├── 2.png │ │ ├── 3.png │ │ ├── 4.png │ │ ├── 5.png │ │ ├── 6.png │ │ ├── 7.png │ │ ├── 8.png │ │ ├── 9.png │ │ ├── camera.yml │ │ └── image_list.xml ├── data │ ├── depth1.png │ ├── depth2.png │ ├── good_matches.png │ ├── inliers.png │ ├── keypoints_1.png │ ├── keypoints_2.png │ ├── matches.png │ ├── rgb1.png │ └── rgb2.png ├── detectFeatures.py ├── readyaml.py ├── readyaml.pyc ├── slamBase.py └── slamBase.pyc ├── 3 ├── calibration │ └── asus │ │ └── camera.yml ├── data │ ├── cloud.pcd │ ├── depth1.png │ ├── depth2.png │ ├── rgb1.png │ └── rgb2.png ├── joinPointCloud.py ├── readyaml.py ├── readyaml.pyc ├── slamBase.py └── slamBase.pyc ├── 4 ├── Makefile ├── ReadME.md ├── Test.o ├── Test.so ├── joinPointCloud.py ├── lib_pcl.cpp ├── lib_pcl.o ├── lib_pcl.so ├── readyaml.py ├── slamBase.py └── test.cpp ├── .gitignore ├── Calibration ├── Checkerboard.png └── Checkerboard.py ├── README.md ├── bin ├── calibration └── imagelist_creator ├── 从图像到点云python版.docx └── 从图像到点云python版.pdf /.gitignore: -------------------------------------------------------------------------------- 1 | .DS_Store -------------------------------------------------------------------------------- /1/calibration_data/artras/1.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zsirui/slam-python/HEAD/1/calibration_data/artras/1.png -------------------------------------------------------------------------------- /1/calibration_data/artras/10.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zsirui/slam-python/HEAD/1/calibration_data/artras/10.png -------------------------------------------------------------------------------- /1/calibration_data/artras/11.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zsirui/slam-python/HEAD/1/calibration_data/artras/11.png -------------------------------------------------------------------------------- /1/calibration_data/artras/12.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zsirui/slam-python/HEAD/1/calibration_data/artras/12.png -------------------------------------------------------------------------------- /1/calibration_data/artras/2.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zsirui/slam-python/HEAD/1/calibration_data/artras/2.png -------------------------------------------------------------------------------- /1/calibration_data/artras/3.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zsirui/slam-python/HEAD/1/calibration_data/artras/3.png -------------------------------------------------------------------------------- /1/calibration_data/artras/4.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zsirui/slam-python/HEAD/1/calibration_data/artras/4.png -------------------------------------------------------------------------------- /1/calibration_data/artras/5.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zsirui/slam-python/HEAD/1/calibration_data/artras/5.png -------------------------------------------------------------------------------- /1/calibration_data/artras/6.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zsirui/slam-python/HEAD/1/calibration_data/artras/6.png -------------------------------------------------------------------------------- /1/calibration_data/artras/7.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zsirui/slam-python/HEAD/1/calibration_data/artras/7.png -------------------------------------------------------------------------------- /1/calibration_data/artras/8.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zsirui/slam-python/HEAD/1/calibration_data/artras/8.png -------------------------------------------------------------------------------- /1/calibration_data/artras/9.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zsirui/slam-python/HEAD/1/calibration_data/artras/9.png -------------------------------------------------------------------------------- /1/calibration_data/artras/camera.yml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zsirui/slam-python/HEAD/1/calibration_data/artras/camera.yml -------------------------------------------------------------------------------- /1/calibration_data/artras/image_list.xml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zsirui/slam-python/HEAD/1/calibration_data/artras/image_list.xml -------------------------------------------------------------------------------- /1/calibration_data/asus/1.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zsirui/slam-python/HEAD/1/calibration_data/asus/1.png -------------------------------------------------------------------------------- /1/calibration_data/asus/10.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zsirui/slam-python/HEAD/1/calibration_data/asus/10.png -------------------------------------------------------------------------------- /1/calibration_data/asus/11.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zsirui/slam-python/HEAD/1/calibration_data/asus/11.png -------------------------------------------------------------------------------- /1/calibration_data/asus/12.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zsirui/slam-python/HEAD/1/calibration_data/asus/12.png -------------------------------------------------------------------------------- /1/calibration_data/asus/13.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zsirui/slam-python/HEAD/1/calibration_data/asus/13.png -------------------------------------------------------------------------------- /1/calibration_data/asus/14.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zsirui/slam-python/HEAD/1/calibration_data/asus/14.png -------------------------------------------------------------------------------- /1/calibration_data/asus/15.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zsirui/slam-python/HEAD/1/calibration_data/asus/15.png -------------------------------------------------------------------------------- /1/calibration_data/asus/2.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zsirui/slam-python/HEAD/1/calibration_data/asus/2.png -------------------------------------------------------------------------------- /1/calibration_data/asus/3.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zsirui/slam-python/HEAD/1/calibration_data/asus/3.png -------------------------------------------------------------------------------- /1/calibration_data/asus/4.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zsirui/slam-python/HEAD/1/calibration_data/asus/4.png -------------------------------------------------------------------------------- /1/calibration_data/asus/5.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zsirui/slam-python/HEAD/1/calibration_data/asus/5.png -------------------------------------------------------------------------------- /1/calibration_data/asus/6.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zsirui/slam-python/HEAD/1/calibration_data/asus/6.png -------------------------------------------------------------------------------- /1/calibration_data/asus/7.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zsirui/slam-python/HEAD/1/calibration_data/asus/7.png -------------------------------------------------------------------------------- /1/calibration_data/asus/8.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zsirui/slam-python/HEAD/1/calibration_data/asus/8.png -------------------------------------------------------------------------------- /1/calibration_data/asus/9.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zsirui/slam-python/HEAD/1/calibration_data/asus/9.png -------------------------------------------------------------------------------- /1/calibration_data/asus/camera.yml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zsirui/slam-python/HEAD/1/calibration_data/asus/camera.yml -------------------------------------------------------------------------------- /1/calibration_data/asus/image_list.xml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zsirui/slam-python/HEAD/1/calibration_data/asus/image_list.xml -------------------------------------------------------------------------------- /1/data/asus/cloud.pcd: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zsirui/slam-python/HEAD/1/data/asus/cloud.pcd -------------------------------------------------------------------------------- /1/data/asus/depth.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zsirui/slam-python/HEAD/1/data/asus/depth.png -------------------------------------------------------------------------------- /1/data/asus/rgb.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zsirui/slam-python/HEAD/1/data/asus/rgb.png -------------------------------------------------------------------------------- /1/readyaml.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zsirui/slam-python/HEAD/1/readyaml.py -------------------------------------------------------------------------------- /1/readyaml.pyc: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zsirui/slam-python/HEAD/1/readyaml.pyc -------------------------------------------------------------------------------- /1/slamBase.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zsirui/slam-python/HEAD/1/slamBase.py -------------------------------------------------------------------------------- /2/calibration_data/asus/1.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zsirui/slam-python/HEAD/2/calibration_data/asus/1.png -------------------------------------------------------------------------------- /2/calibration_data/asus/10.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zsirui/slam-python/HEAD/2/calibration_data/asus/10.png -------------------------------------------------------------------------------- /2/calibration_data/asus/11.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zsirui/slam-python/HEAD/2/calibration_data/asus/11.png -------------------------------------------------------------------------------- /2/calibration_data/asus/12.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zsirui/slam-python/HEAD/2/calibration_data/asus/12.png -------------------------------------------------------------------------------- /2/calibration_data/asus/13.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zsirui/slam-python/HEAD/2/calibration_data/asus/13.png -------------------------------------------------------------------------------- /2/calibration_data/asus/14.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zsirui/slam-python/HEAD/2/calibration_data/asus/14.png -------------------------------------------------------------------------------- /2/calibration_data/asus/15.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zsirui/slam-python/HEAD/2/calibration_data/asus/15.png -------------------------------------------------------------------------------- /2/calibration_data/asus/2.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zsirui/slam-python/HEAD/2/calibration_data/asus/2.png -------------------------------------------------------------------------------- /2/calibration_data/asus/3.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zsirui/slam-python/HEAD/2/calibration_data/asus/3.png -------------------------------------------------------------------------------- /2/calibration_data/asus/4.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zsirui/slam-python/HEAD/2/calibration_data/asus/4.png -------------------------------------------------------------------------------- /2/calibration_data/asus/5.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zsirui/slam-python/HEAD/2/calibration_data/asus/5.png -------------------------------------------------------------------------------- /2/calibration_data/asus/6.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zsirui/slam-python/HEAD/2/calibration_data/asus/6.png -------------------------------------------------------------------------------- /2/calibration_data/asus/7.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zsirui/slam-python/HEAD/2/calibration_data/asus/7.png -------------------------------------------------------------------------------- /2/calibration_data/asus/8.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zsirui/slam-python/HEAD/2/calibration_data/asus/8.png -------------------------------------------------------------------------------- /2/calibration_data/asus/9.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zsirui/slam-python/HEAD/2/calibration_data/asus/9.png -------------------------------------------------------------------------------- /2/calibration_data/asus/camera.yml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zsirui/slam-python/HEAD/2/calibration_data/asus/camera.yml -------------------------------------------------------------------------------- /2/calibration_data/asus/image_list.xml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zsirui/slam-python/HEAD/2/calibration_data/asus/image_list.xml -------------------------------------------------------------------------------- /2/data/depth1.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zsirui/slam-python/HEAD/2/data/depth1.png -------------------------------------------------------------------------------- /2/data/depth2.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zsirui/slam-python/HEAD/2/data/depth2.png -------------------------------------------------------------------------------- /2/data/good_matches.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zsirui/slam-python/HEAD/2/data/good_matches.png -------------------------------------------------------------------------------- /2/data/inliers.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zsirui/slam-python/HEAD/2/data/inliers.png -------------------------------------------------------------------------------- /2/data/keypoints_1.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zsirui/slam-python/HEAD/2/data/keypoints_1.png -------------------------------------------------------------------------------- /2/data/keypoints_2.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zsirui/slam-python/HEAD/2/data/keypoints_2.png -------------------------------------------------------------------------------- /2/data/matches.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zsirui/slam-python/HEAD/2/data/matches.png -------------------------------------------------------------------------------- /2/data/rgb1.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zsirui/slam-python/HEAD/2/data/rgb1.png -------------------------------------------------------------------------------- /2/data/rgb2.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zsirui/slam-python/HEAD/2/data/rgb2.png -------------------------------------------------------------------------------- /2/detectFeatures.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zsirui/slam-python/HEAD/2/detectFeatures.py -------------------------------------------------------------------------------- /2/readyaml.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zsirui/slam-python/HEAD/2/readyaml.py -------------------------------------------------------------------------------- /2/readyaml.pyc: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zsirui/slam-python/HEAD/2/readyaml.pyc -------------------------------------------------------------------------------- /2/slamBase.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zsirui/slam-python/HEAD/2/slamBase.py -------------------------------------------------------------------------------- /2/slamBase.pyc: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zsirui/slam-python/HEAD/2/slamBase.pyc -------------------------------------------------------------------------------- /3/calibration/asus/camera.yml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zsirui/slam-python/HEAD/3/calibration/asus/camera.yml -------------------------------------------------------------------------------- /3/data/cloud.pcd: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zsirui/slam-python/HEAD/3/data/cloud.pcd -------------------------------------------------------------------------------- /3/data/depth1.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zsirui/slam-python/HEAD/3/data/depth1.png -------------------------------------------------------------------------------- /3/data/depth2.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zsirui/slam-python/HEAD/3/data/depth2.png -------------------------------------------------------------------------------- /3/data/rgb1.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zsirui/slam-python/HEAD/3/data/rgb1.png -------------------------------------------------------------------------------- /3/data/rgb2.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zsirui/slam-python/HEAD/3/data/rgb2.png -------------------------------------------------------------------------------- /3/joinPointCloud.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zsirui/slam-python/HEAD/3/joinPointCloud.py -------------------------------------------------------------------------------- /3/readyaml.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zsirui/slam-python/HEAD/3/readyaml.py -------------------------------------------------------------------------------- /3/readyaml.pyc: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zsirui/slam-python/HEAD/3/readyaml.pyc -------------------------------------------------------------------------------- /3/slamBase.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zsirui/slam-python/HEAD/3/slamBase.py -------------------------------------------------------------------------------- /3/slamBase.pyc: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zsirui/slam-python/HEAD/3/slamBase.pyc -------------------------------------------------------------------------------- /4/Makefile: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zsirui/slam-python/HEAD/4/Makefile -------------------------------------------------------------------------------- /4/ReadME.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zsirui/slam-python/HEAD/4/ReadME.md -------------------------------------------------------------------------------- /4/Test.o: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zsirui/slam-python/HEAD/4/Test.o -------------------------------------------------------------------------------- /4/Test.so: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zsirui/slam-python/HEAD/4/Test.so -------------------------------------------------------------------------------- /4/joinPointCloud.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zsirui/slam-python/HEAD/4/joinPointCloud.py -------------------------------------------------------------------------------- /4/lib_pcl.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zsirui/slam-python/HEAD/4/lib_pcl.cpp -------------------------------------------------------------------------------- /4/lib_pcl.o: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zsirui/slam-python/HEAD/4/lib_pcl.o -------------------------------------------------------------------------------- /4/lib_pcl.so: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zsirui/slam-python/HEAD/4/lib_pcl.so -------------------------------------------------------------------------------- /4/readyaml.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zsirui/slam-python/HEAD/4/readyaml.py -------------------------------------------------------------------------------- /4/slamBase.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zsirui/slam-python/HEAD/4/slamBase.py -------------------------------------------------------------------------------- /4/test.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zsirui/slam-python/HEAD/4/test.cpp -------------------------------------------------------------------------------- /Calibration/Checkerboard.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zsirui/slam-python/HEAD/Calibration/Checkerboard.png -------------------------------------------------------------------------------- /Calibration/Checkerboard.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zsirui/slam-python/HEAD/Calibration/Checkerboard.py -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zsirui/slam-python/HEAD/README.md -------------------------------------------------------------------------------- /bin/calibration: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zsirui/slam-python/HEAD/bin/calibration -------------------------------------------------------------------------------- /bin/imagelist_creator: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zsirui/slam-python/HEAD/bin/imagelist_creator -------------------------------------------------------------------------------- /从图像到点云python版.docx: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zsirui/slam-python/HEAD/从图像到点云python版.docx -------------------------------------------------------------------------------- /从图像到点云python版.pdf: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zsirui/slam-python/HEAD/从图像到点云python版.pdf --------------------------------------------------------------------------------