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insight3d lets you create 3D models from photographs. You give it a series of photos of a
real scene (e.g., of a building), it automatically matches them and then calculates positions
in space from which each photo has been taken (plus camera s o
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RANSAC为RANdom SAmple Consensus的缩写，它是根据一组包含异常数据的样本数据集，计算出数据的数学模型参数，得到有效样本数据的算法。它于1981年由Fischler和Bolles最先提出[1]。
RANSAC算法经常用于计算机视觉中。例如，在立体视觉领域中同时解决一对相机的匹配点问题及基本矩阵的计算。
RANSAC算法的基本假设是样本中包含正确数据(inliers，可以被模型描述的数据)，也包含异常数据(Outliers，偏离正常范围很远、无法适应数学模型的数据)
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本程序主要实现的是3维物体的立体重构。包括了相机内外参数的设置，创建的模型，获取图像结果，并根据结果实现物体的重构-This procedure mainly achieve the three-dimensional reconstruction of three-dimensional objects. Including internal and external parameters of the camera settings to create a model for image r
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三维重建，根据相机的内参数进行旋转变化可以将三维点映射变换到二维图像中去-Reconstruction, based on the changes in the parameters of the camera can be rotated transformed into a three-dimensional map points to the two-dimensional image
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基于kinect相机获取的图片，通过改程序可以对3D点对2D点进行匹配，从而确定相机参数是否正确，同时还可以获取图像的视觉里程。-Based kinect camera to get a picture, you can change the program through point-to-2D point on the 3D match to determine the camera parameters are correct, but also can get a visual imag
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