vopra 03 done

This commit is contained in:
Ivan I. Ovchinnikov 2023-02-27 19:21:27 +03:00
parent c55842b43a
commit be228ff763
4 changed files with 905 additions and 7 deletions

View File

@ -226,22 +226,35 @@ $A$ -- не чёткое изображение, на рисунке -- гран
Основная задача -- поиск точек, подверженных гомографии. Такой поиск называется схема RANSAC.
\section{Стереозрение}
эпиполярная геометрия
Основано на разделе под названием эпиполярная геометрия.
берём две камеры, смотрим их углы обзора.
(1)
d -- стереобаза
берём две камеры, замеряем их углы обзора.
\begin{figure}[H]
\centering
\fontsize{12}{1}\selectfont
\includesvg[scale=1.01]{pics/04-vora-00-stereobase.svg}
\end{figure}
d -- стереобаза (расстояние между двумя камерами)
\[ r = \frac{f(x_1-x_2)}{d} \]
Преимущество в лёгкости, недостаток в сложности настройки подобной системы (две абсолютно идентичные камеры будут всё равно иметь свои искажения, углы зрения и так далее). Частоты камер могут не совпадать. Оси камер должны быть параллельны друг другу (соосны).
Преимущество в лёгкости, недостаток в сложности настройки подобной системы (две абсолютно идентичные камеры будут всё равно иметь свои искажения, углы зрения и так далее). Частоты камер могут не совпадать. Оси камер должны быть строго параллельны друг другу (соосны).
(2)
\begin{figure}[H]
\centering
\fontsize{12}{1}\selectfont
\includesvg[scale=1.01]{pics/04-vora-00-stereoimg.svg}
\end{figure}
В результате получаем стереопару. Библиотека \code{calib3d}. Получив стереопару возможно строить карту глубин изображения (depth map). \code{cvStereoBMState} block matching. ищем пиксель с одной камеры в полосе другой камеры. Есть другой вид функций -- \code{...GC...} -- graph cut, вычислительно более сложны, остаются только ветки с наименьшими ошибками сопоставления. \footnote{Bradski - Learning OpenCV, Multiple View Geometry in Computer Vision - Hartley, Zisserman}
\subsection{Ректификация}
(3)
\begin{figure}[H]
\centering
\fontsize{12}{1}\selectfont
\includesvg[scale=1.01]{pics/04-vora-00-stereorectif.svg}
\end{figure}
Для определения объекта далее берутся характерные точки и признаки на одном изображении и ищутся на другом изображении.

View File

@ -0,0 +1,220 @@
<?xml version="1.0" encoding="UTF-8" standalone="no"?>
<svg
xmlns:dc="http://purl.org/dc/elements/1.1/"
xmlns:cc="http://creativecommons.org/ns#"
xmlns:rdf="http://www.w3.org/1999/02/22-rdf-syntax-ns#"
xmlns:svg="http://www.w3.org/2000/svg"
xmlns="http://www.w3.org/2000/svg"
xmlns:sodipodi="http://sodipodi.sourceforge.net/DTD/sodipodi-0.dtd"
xmlns:inkscape="http://www.inkscape.org/namespaces/inkscape"
width="210mm"
height="297mm"
viewBox="0 0 210 297"
version="1.1"
id="svg3580"
inkscape:version="1.0.2 (e86c870879, 2021-01-15)"
sodipodi:docname="04-vora-00-stereobase.svg">
<defs
id="defs3574" />
<sodipodi:namedview
id="base"
pagecolor="#ffffff"
bordercolor="#666666"
borderopacity="1.0"
inkscape:pageopacity="0.0"
inkscape:pageshadow="2"
inkscape:zoom="0.98994949"
inkscape:cx="52.677322"
inkscape:cy="469.80462"
inkscape:document-units="mm"
inkscape:current-layer="layer1"
inkscape:document-rotation="0"
showgrid="true"
inkscape:snap-bbox="true"
inkscape:bbox-nodes="true"
inkscape:window-width="1852"
inkscape:window-height="1205"
inkscape:window-x="675"
inkscape:window-y="82"
inkscape:window-maximized="0">
<inkscape:grid
type="xygrid"
id="grid4143" />
</sodipodi:namedview>
<metadata
id="metadata3577">
<rdf:RDF>
<cc:Work
rdf:about="">
<dc:format>image/svg+xml</dc:format>
<dc:type
rdf:resource="http://purl.org/dc/dcmitype/StillImage" />
<dc:title></dc:title>
</cc:Work>
</rdf:RDF>
</metadata>
<g
inkscape:label="Layer 1"
inkscape:groupmode="layer"
id="layer1">
<text
xml:space="preserve"
style="font-size:4.9389px;line-height:1.25;font-family:'PT Astra Serif';-inkscape-font-specification:'PT Astra Serif';stroke-width:0.264583"
x="44.979168"
y="84.666664"
id="text4147"><tspan
sodipodi:role="line"
id="tspan4145"
x="44.979168"
y="84.666664"
style="stroke-width:0.264583">кам1</tspan></text>
<text
xml:space="preserve"
style="font-size:4.9389px;line-height:1.25;font-family:'PT Astra Serif';-inkscape-font-specification:'PT Astra Serif';stroke-width:0.264583"
x="92.604164"
y="84.666664"
id="text4151"><tspan
sodipodi:role="line"
id="tspan4149"
x="92.604164"
y="84.666664"
style="stroke-width:0.264583">кам2</tspan></text>
<text
xml:space="preserve"
style="font-size:4.9389px;line-height:1.25;font-family:'PT Astra Serif';-inkscape-font-specification:'PT Astra Serif';stroke-width:0.264583"
x="71.191521"
y="85.664024"
id="text4155"><tspan
sodipodi:role="line"
id="tspan4153"
x="71.191521"
y="85.664024"
style="stroke-width:0.264583">$d$</tspan></text>
<text
xml:space="preserve"
style="font-size:4.9389px;line-height:1.25;font-family:'PT Astra Serif';-inkscape-font-specification:'PT Astra Serif';stroke-width:0.264583"
x="77.806107"
y="76.403603"
id="text4159"><tspan
sodipodi:role="line"
id="tspan4157"
x="77.806107"
y="76.403603"
style="stroke-width:0.264583">$r$</tspan></text>
<text
xml:space="preserve"
style="font-size:4.9389px;line-height:1.25;font-family:'PT Astra Serif';-inkscape-font-specification:'PT Astra Serif';stroke-width:0.264583"
x="47.625"
y="71.4375"
id="text4163"><tspan
sodipodi:role="line"
id="tspan4161"
x="47.625"
y="71.4375"
style="stroke-width:0.264583">$\alpha$</tspan></text>
<text
xml:space="preserve"
style="font-size:4.9389px;line-height:1.25;font-family:'PT Astra Serif';-inkscape-font-specification:'PT Astra Serif';stroke-width:0.264583"
x="95.25"
y="71.4375"
id="text4167"><tspan
sodipodi:role="line"
id="tspan4165"
x="95.25"
y="71.4375"
style="stroke-width:0.264583">$\alpha$</tspan></text>
<text
xml:space="preserve"
style="font-size:4.9389px;line-height:1.25;font-family:'PT Astra Serif';-inkscape-font-specification:'PT Astra Serif';stroke-width:0.264583"
x="74.083336"
y="47.625"
id="text4171"><tspan
sodipodi:role="line"
id="tspan4169"
x="74.083336"
y="47.625"
style="stroke-width:0.264583">$A$</tspan></text>
<text
xml:space="preserve"
style="font-size:4.9389px;line-height:1.25;font-family:'PT Astra Serif';-inkscape-font-specification:'PT Astra Serif';stroke-width:0.264583"
x="67.222771"
y="40.096432"
id="text4175"><tspan
sodipodi:role="line"
id="tspan4173"
x="67.222771"
y="40.096432"
style="stroke-width:0.264583">$x_2$</tspan></text>
<text
xml:space="preserve"
style="font-size:4.9389px;line-height:1.25;font-family:'PT Astra Serif';-inkscape-font-specification:'PT Astra Serif';stroke-width:0.264583"
x="43.410271"
y="40.096432"
id="text4179"><tspan
sodipodi:role="line"
id="tspan4177"
x="43.410271"
y="40.096432"
style="stroke-width:0.264583">$x_1$</tspan></text>
<path
style="fill:none;stroke:#000000;stroke-width:0.264583px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1"
d="M 34.395833,79.374999 H 113.77083"
id="path4183" />
<ellipse
id="path4185"
style="fill:#000000;stroke:none;stroke-width:0.264583"
cx="50.270832"
cy="79.375"
rx="1.3229154"
ry="1.3229166" />
<ellipse
id="path4187"
style="fill:#000000;stroke:none;stroke-width:0.264583"
cx="97.895836"
cy="79.375"
rx="1.3229192"
ry="1.3229166" />
<path
style="fill:none;stroke:#000000;stroke-width:0.264583px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1"
d="M 85.989583,37.041667 50.270833,79.374999 15.875,37.041667"
id="path4189"
sodipodi:nodetypes="ccc" />
<path
style="fill:none;stroke:#000000;stroke-width:0.264583px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1"
d="M 130.96875,37.041667 97.895832,79.374999 63.5,37.041667"
id="path4191"
sodipodi:nodetypes="ccc" />
<ellipse
id="path4187-8"
style="fill:#000000;stroke:none;stroke-width:0.264583"
cx="74.083336"
cy="42.333332"
rx="1.3229192"
ry="1.3229166" />
<path
style="fill:none;stroke:#000000;stroke-width:0.264583px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1"
d="M 74.083332,42.333333 V 79.374999"
id="path4213" />
<path
style="fill:none;stroke:#000000;stroke-width:0.264583px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1"
d="m 74.083332,76.729166 h 2.645834 v 2.645833"
id="path4215" />
<path
style="fill:none;stroke:#000000;stroke-width:0.264583px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1"
d="m 74.083332,42.333333 -53.974999,0"
id="path4217"
sodipodi:nodetypes="cc" />
<circle
id="path4219"
style="fill:#000000;stroke:none;stroke-width:0.264583"
cx="67.73333"
cy="42.333332"
r="0.39687499" />
<circle
id="path4221"
style="fill:#000000;stroke:none;stroke-width:0.264583"
cx="20.108334"
cy="42.333332"
r="0.39687499" />
</g>
</svg>

After

Width:  |  Height:  |  Size: 7.5 KiB

View File

@ -0,0 +1,333 @@
<?xml version="1.0" encoding="UTF-8" standalone="no"?>
<svg
xmlns:dc="http://purl.org/dc/elements/1.1/"
xmlns:cc="http://creativecommons.org/ns#"
xmlns:rdf="http://www.w3.org/1999/02/22-rdf-syntax-ns#"
xmlns:svg="http://www.w3.org/2000/svg"
xmlns="http://www.w3.org/2000/svg"
xmlns:sodipodi="http://sodipodi.sourceforge.net/DTD/sodipodi-0.dtd"
xmlns:inkscape="http://www.inkscape.org/namespaces/inkscape"
width="210mm"
height="297mm"
viewBox="0 0 210 297"
version="1.1"
id="svg3580"
inkscape:version="1.0.2 (e86c870879, 2021-01-15)"
sodipodi:docname="04-vora-00-stereoimg.svg">
<defs
id="defs3574">
<marker
style="overflow:visible;"
id="marker4634"
refX="0.0"
refY="0.0"
orient="auto"
inkscape:stockid="Arrow2Mend"
inkscape:isstock="true">
<path
transform="scale(0.6) rotate(180) translate(0,0)"
d="M 8.7185878,4.0337352 L -2.2072895,0.016013256 L 8.7185884,-4.0017078 C 6.9730900,-1.6296469 6.9831476,1.6157441 8.7185878,4.0337352 z "
style="fill-rule:evenodd;stroke-width:0.625;stroke-linejoin:round;stroke:#000000;stroke-opacity:1;fill:#000000;fill-opacity:1"
id="path4632" />
</marker>
<marker
style="overflow:visible;"
id="marker4624"
refX="0.0"
refY="0.0"
orient="auto"
inkscape:stockid="Arrow2Mend"
inkscape:isstock="true">
<path
transform="scale(0.6) rotate(180) translate(0,0)"
d="M 8.7185878,4.0337352 L -2.2072895,0.016013256 L 8.7185884,-4.0017078 C 6.9730900,-1.6296469 6.9831476,1.6157441 8.7185878,4.0337352 z "
style="fill-rule:evenodd;stroke-width:0.625;stroke-linejoin:round;stroke:#000000;stroke-opacity:1;fill:#000000;fill-opacity:1"
id="path4622" />
</marker>
</defs>
<sodipodi:namedview
id="base"
pagecolor="#ffffff"
bordercolor="#666666"
borderopacity="1.0"
inkscape:pageopacity="0.0"
inkscape:pageshadow="2"
inkscape:zoom="0.98994949"
inkscape:cx="295.11393"
inkscape:cy="469.80462"
inkscape:document-units="mm"
inkscape:current-layer="layer1"
inkscape:document-rotation="0"
showgrid="true"
inkscape:snap-bbox="true"
inkscape:bbox-nodes="true"
inkscape:window-width="1852"
inkscape:window-height="1205"
inkscape:window-x="675"
inkscape:window-y="82"
inkscape:window-maximized="0">
<inkscape:grid
type="xygrid"
id="grid4143" />
</sodipodi:namedview>
<metadata
id="metadata3577">
<rdf:RDF>
<cc:Work
rdf:about="">
<dc:format>image/svg+xml</dc:format>
<dc:type
rdf:resource="http://purl.org/dc/dcmitype/StillImage" />
<dc:title></dc:title>
</cc:Work>
</rdf:RDF>
</metadata>
<g
inkscape:label="Layer 1"
inkscape:groupmode="layer"
id="layer1">
<text
xml:space="preserve"
style="font-size:4.9389px;line-height:1.25;font-family:'PT Astra Serif';-inkscape-font-specification:'PT Astra Serif';stroke-width:0.264583"
x="63.5"
y="39.6875"
id="text4288"><tspan
sodipodi:role="line"
id="tspan4286"
x="63.5"
y="39.6875"
style="stroke-width:0.264583">левая камера</tspan></text>
<text
xml:space="preserve"
style="font-size:4.9389px;line-height:1.25;font-family:'PT Astra Serif';-inkscape-font-specification:'PT Astra Serif';stroke-width:0.264583"
x="105.77063"
y="36.655476"
id="text4292"><tspan
sodipodi:role="line"
id="tspan4290"
x="105.77063"
y="36.655476"
style="stroke-width:0.264583">входные</tspan><tspan
sodipodi:role="line"
x="105.77063"
y="42.829102"
style="stroke-width:0.264583"
id="tspan4294">параметры</tspan><tspan
sodipodi:role="line"
x="105.77063"
y="49.002724"
style="stroke-width:0.264583"
id="tspan4296">модели</tspan></text>
<text
xml:space="preserve"
style="font-size:4.9389px;line-height:1.25;font-family:'PT Astra Serif';-inkscape-font-specification:'PT Astra Serif';stroke-width:0.264583"
x="145.52083"
y="39.6875"
id="text4300"><tspan
sodipodi:role="line"
id="tspan4298"
x="145.52083"
y="39.6875"
style="stroke-width:0.264583">правая камера</tspan></text>
<text
xml:space="preserve"
style="font-size:4.9389px;line-height:1.25;font-family:'PT Astra Serif';-inkscape-font-specification:'PT Astra Serif';stroke-width:0.264583"
x="102.99458"
y="65.759644"
id="text4304"><tspan
sodipodi:role="line"
id="tspan4302"
x="102.99458"
y="65.759644"
style="stroke-width:0.264583">синхронизация</tspan></text>
<text
xml:space="preserve"
style="font-size:4.9389px;line-height:1.25;font-family:'PT Astra Serif';-inkscape-font-specification:'PT Astra Serif';stroke-width:0.264583"
x="103.04763"
y="82.695732"
id="text4308"><tspan
sodipodi:role="line"
id="tspan4306"
x="103.04763"
y="82.695732"
style="stroke-width:0.264583">ректификация</tspan><tspan
sodipodi:role="line"
x="103.04763"
y="88.869354"
style="stroke-width:0.264583"
id="tspan4310">(выравнивание)</tspan></text>
<text
xml:space="preserve"
style="font-size:4.9389px;line-height:1.25;font-family:'PT Astra Serif';-inkscape-font-specification:'PT Astra Serif';stroke-width:0.264583"
x="105.7007"
y="105.44714"
id="text4314"><tspan
sodipodi:role="line"
id="tspan4312"
x="105.7007"
y="105.44714"
style="stroke-width:0.264583">цветовая</tspan><tspan
sodipodi:role="line"
x="105.7007"
y="111.62077"
style="stroke-width:0.264583"
id="tspan4316">калибровка</tspan></text>
<text
xml:space="preserve"
style="font-size:4.9389px;line-height:1.25;font-family:'PT Astra Serif';-inkscape-font-specification:'PT Astra Serif';stroke-width:0.264583"
x="105.77063"
y="126.61381"
id="text4320"><tspan
sodipodi:role="line"
id="tspan4318"
x="105.77063"
y="126.61381"
style="stroke-width:0.264583">выходные</tspan><tspan
sodipodi:role="line"
x="105.77063"
y="132.78745"
style="stroke-width:0.264583"
id="tspan4322">параметры</tspan><tspan
sodipodi:role="line"
x="105.77063"
y="138.96106"
style="stroke-width:0.264583"
id="tspan4324">модели</tspan></text>
<rect
style="fill:none;stroke:#000000;stroke-width:0.264999"
id="rect4326"
width="34.395832"
height="21.166666"
x="100.54166"
y="31.75" />
<rect
style="fill:none;stroke:#000000;stroke-width:0.264999"
id="rect4328"
width="42.333332"
height="13.229166"
x="97.895836"
y="58.208332" />
<rect
style="fill:none;stroke:#000000;stroke-width:0.264999"
id="rect4330"
width="42.333332"
height="15.875"
x="97.895836"
y="76.729164" />
<rect
style="fill:none;stroke:#000000;stroke-width:0.264999"
id="rect4332"
width="42.333332"
height="18.520834"
x="97.895836"
y="97.895836" />
<rect
style="fill:none;stroke:#000000;stroke-width:0.264999"
id="rect4334"
width="34.395832"
height="21.166666"
x="100.54166"
y="121.70833" />
<path
style="fill:none;stroke:#000000;stroke-width:0.265;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1;stroke-miterlimit:4;stroke-dasharray:none;marker-end:url(#marker4634)"
d="M 58.208333,42.333333 H 100.54167"
id="path4336" />
<path
style="fill:none;stroke:#000000;stroke-width:0.265;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1;stroke-miterlimit:4;stroke-dasharray:none;marker-end:url(#marker4624)"
d="M 179.91666,42.333333 H 134.9375"
id="path4338" />
<path
style="fill:none;stroke:#000000;stroke-width:0.264583px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1"
d="m 119.0625,52.916666 v 5.291667"
id="path4672" />
<path
style="fill:none;stroke:#000000;stroke-width:0.264583px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1"
d="m 119.0625,71.437499 v 5.291667"
id="path4686" />
<path
style="fill:none;stroke:#000000;stroke-width:0.264583px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1"
d="m 119.0625,92.604166 v 5.291666"
id="path4688" />
<path
style="fill:none;stroke:#000000;stroke-width:0.264583px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1"
d="m 119.0625,116.41667 v 5.29166"
id="path4690" />
<text
xml:space="preserve"
style="font-size:4.9389px;line-height:1.25;font-family:'PT Astra Serif';-inkscape-font-specification:'PT Astra Serif';stroke-width:0.264583"
x="103.1875"
y="29.104166"
id="text4694"><tspan
sodipodi:role="line"
id="tspan4692"
x="103.1875"
y="29.104166"
style="stroke-width:0.264583"></tspan></text>
<text
xml:space="preserve"
style="font-size:4.9389px;line-height:1.25;font-family:'PT Astra Serif';-inkscape-font-specification:'PT Astra Serif';stroke-width:0.264583"
x="87.3125"
y="29.104166"
id="text4702"><tspan
sodipodi:role="line"
id="tspan4700"
x="87.3125"
y="29.104166"
style="stroke-width:0.264583">$F_{L_i}(k)$</tspan></text>
<text
xml:space="preserve"
style="font-size:4.9389px;line-height:1.25;font-family:'PT Astra Serif';-inkscape-font-specification:'PT Astra Serif';stroke-width:0.264583"
x="132.29167"
y="29.104166"
id="text4706"><tspan
sodipodi:role="line"
id="tspan4704"
x="132.29167"
y="29.104166"
style="stroke-width:0.264583">$F_{R_i}(n)$</tspan></text>
<text
xml:space="preserve"
style="font-size:4.9389px;line-height:1.25;font-family:'PT Astra Serif';-inkscape-font-specification:'PT Astra Serif';stroke-width:0.264583"
x="142.875"
y="74.083336"
id="text4710"><tspan
sodipodi:role="line"
id="tspan4708"
x="142.875"
y="74.083336"
style="stroke-width:0.264583">$F_{L_i}(n), F_{R_i}(n); n &lt; k$</tspan></text>
<text
xml:space="preserve"
style="font-size:4.9389px;line-height:1.25;font-family:'PT Astra Serif';-inkscape-font-specification:'PT Astra Serif';stroke-width:0.264583"
x="142.875"
y="95.25"
id="text4714"><tspan
sodipodi:role="line"
id="tspan4712"
x="142.875"
y="95.25"
style="stroke-width:0.264583"></tspan></text>
<text
xml:space="preserve"
style="font-size:4.9389px;line-height:1.25;font-family:'PT Astra Serif';-inkscape-font-specification:'PT Astra Serif';stroke-width:0.264583"
x="142.875"
y="95.25"
id="text4718"><tspan
sodipodi:role="line"
id="tspan4716"
x="142.875"
y="95.25"
style="stroke-width:0.264583">$F'_{L_i}(n), F'_{R_i}(n)$</tspan></text>
<text
xml:space="preserve"
style="font-size:4.9389px;line-height:1.25;font-family:'PT Astra Serif';-inkscape-font-specification:'PT Astra Serif';stroke-width:0.264583"
x="142.875"
y="119.0625"
id="text4722"><tspan
sodipodi:role="line"
id="tspan4720"
x="142.875"
y="119.0625"
style="stroke-width:0.264583">$stereo_i$</tspan></text>
</g>
</svg>

After

Width:  |  Height:  |  Size: 12 KiB

View File

@ -0,0 +1,332 @@
<?xml version="1.0" encoding="UTF-8" standalone="no"?>
<svg
xmlns:dc="http://purl.org/dc/elements/1.1/"
xmlns:cc="http://creativecommons.org/ns#"
xmlns:rdf="http://www.w3.org/1999/02/22-rdf-syntax-ns#"
xmlns:svg="http://www.w3.org/2000/svg"
xmlns="http://www.w3.org/2000/svg"
xmlns:sodipodi="http://sodipodi.sourceforge.net/DTD/sodipodi-0.dtd"
xmlns:inkscape="http://www.inkscape.org/namespaces/inkscape"
width="210mm"
height="297mm"
viewBox="0 0 210 297"
version="1.1"
id="svg4748"
inkscape:version="1.0.2 (e86c870879, 2021-01-15)"
sodipodi:docname="04-vora-00-stereorectif.svg">
<defs
id="defs4742">
<inkscape:path-effect
effect="bspline"
id="path-effect5487"
is_visible="true"
lpeversion="1"
weight="33.333333"
steps="2"
helper_size="0"
apply_no_weight="true"
apply_with_weight="true"
only_selected="false" />
<inkscape:path-effect
effect="bspline"
id="path-effect5483"
is_visible="true"
lpeversion="1"
weight="33.333333"
steps="2"
helper_size="0"
apply_no_weight="true"
apply_with_weight="true"
only_selected="false" />
<inkscape:path-effect
effect="bspline"
id="path-effect5449"
is_visible="true"
lpeversion="1"
weight="33.333333"
steps="2"
helper_size="0"
apply_no_weight="true"
apply_with_weight="true"
only_selected="false" />
<inkscape:path-effect
effect="bspline"
id="path-effect5423"
is_visible="true"
lpeversion="1"
weight="33.333333"
steps="2"
helper_size="0"
apply_no_weight="true"
apply_with_weight="true"
only_selected="false" />
</defs>
<sodipodi:namedview
id="base"
pagecolor="#ffffff"
bordercolor="#666666"
borderopacity="1.0"
inkscape:pageopacity="0.0"
inkscape:pageshadow="2"
inkscape:zoom="2.8"
inkscape:cx="252.49323"
inkscape:cy="291.26235"
inkscape:document-units="mm"
inkscape:current-layer="layer1"
inkscape:document-rotation="0"
showgrid="true"
inkscape:snap-bbox="true"
inkscape:bbox-nodes="true"
showguides="false"
inkscape:guide-bbox="true"
inkscape:window-width="2362"
inkscape:window-height="1205"
inkscape:window-x="50"
inkscape:window-y="77"
inkscape:window-maximized="0">
<inkscape:grid
type="xygrid"
id="grid5311" />
<sodipodi:guide
position="75.406248,273.18751"
orientation="0,-1"
id="guide5379" />
</sodipodi:namedview>
<metadata
id="metadata4745">
<rdf:RDF>
<cc:Work
rdf:about="">
<dc:format>image/svg+xml</dc:format>
<dc:type
rdf:resource="http://purl.org/dc/dcmitype/StillImage" />
<dc:title></dc:title>
</cc:Work>
</rdf:RDF>
</metadata>
<g
inkscape:label="Layer 1"
inkscape:groupmode="layer"
id="layer1">
<text
xml:space="preserve"
style="font-size:4.9389px;line-height:1.25;font-family:'PT Astra Serif';-inkscape-font-specification:'PT Astra Serif';stroke-width:0.264583"
x="76.729164"
y="21.166666"
id="text5315"><tspan
sodipodi:role="line"
id="tspan5313"
x="76.729164"
y="21.166666"
style="stroke-width:0.264583">Object</tspan></text>
<text
xml:space="preserve"
style="font-size:4.9389px;line-height:1.25;font-family:'PT Astra Serif';-inkscape-font-specification:'PT Astra Serif';stroke-width:0.264583"
x="55.326164"
y="5.9183369"
id="text5319"><tspan
sodipodi:role="line"
id="tspan5317"
x="55.326164"
y="5.9183369"
style="stroke-width:0.264583">L</tspan></text>
<text
xml:space="preserve"
style="font-size:4.9389px;line-height:1.25;font-family:'PT Astra Serif';-inkscape-font-specification:'PT Astra Serif';stroke-width:0.264583"
x="118.85992"
y="6.6145835"
id="text5323"><tspan
sodipodi:role="line"
id="tspan5321"
x="118.85992"
y="6.6145835"
style="stroke-width:0.264583">R</tspan></text>
<text
xml:space="preserve"
style="font-size:4.9389px;line-height:1.25;font-family:'PT Astra Serif';-inkscape-font-specification:'PT Astra Serif';stroke-width:0.264583"
x="74.083336"
y="34.395832"
id="text5327"><tspan
sodipodi:role="line"
id="tspan5325"
x="74.083336"
y="34.395832"
style="stroke-width:0.264583">RAW images</tspan></text>
<text
xml:space="preserve"
style="font-size:4.9389px;line-height:1.25;font-family:'PT Astra Serif';-inkscape-font-specification:'PT Astra Serif';stroke-width:0.264583"
x="68.63974"
y="48.345722"
id="text5331"><tspan
sodipodi:role="line"
id="tspan5329"
x="68.63974"
y="48.345722"
style="stroke-width:0.264583">Убираем искажение</tspan><tspan
sodipodi:role="line"
x="68.63974"
y="54.519348"
style="stroke-width:0.264583"
id="tspan5333">(дисторсию)</tspan></text>
<text
xml:space="preserve"
style="font-size:4.9389px;line-height:1.25;font-family:'PT Astra Serif';-inkscape-font-specification:'PT Astra Serif';stroke-width:0.264583"
x="71.275925"
y="69.444862"
id="text5337"><tspan
sodipodi:role="line"
id="tspan5335"
x="71.275925"
y="69.444862"
style="stroke-width:0.264583">Выравнивание</tspan><tspan
sodipodi:role="line"
x="71.275925"
y="75.618484"
style="stroke-width:0.264583"
id="tspan5339">(ректификация)</tspan><tspan
sodipodi:role="line"
x="71.275925"
y="81.792114"
style="stroke-width:0.264583"
id="tspan5341">по одной из осей</tspan></text>
<text
xml:space="preserve"
style="font-size:4.9389px;line-height:1.25;font-family:'PT Astra Serif';-inkscape-font-specification:'PT Astra Serif';stroke-width:0.264583"
x="71.232513"
y="97.010788"
id="text5345"><tspan
sodipodi:role="line"
id="tspan5343"
x="71.232513"
y="97.010788"
style="stroke-width:0.264583">Обрезка кадра</tspan></text>
<text
xml:space="preserve"
style="font-size:4.9389px;line-height:1.25;font-family:'PT Astra Serif';-inkscape-font-specification:'PT Astra Serif';stroke-width:0.264583"
x="76.475952"
y="111.80473"
id="text5349"><tspan
sodipodi:role="line"
id="tspan5347"
x="76.475952"
y="111.80473"
style="stroke-width:0.264583">Стереопара</tspan></text>
<path
style="fill:none;stroke:#000000;stroke-width:0.264583px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1"
d="m 113.77084,37.041661 5.29166,7.9375 15.875,-10.583333 -5.29167,-7.9375 z"
id="path5351" />
<path
style="fill:none;stroke:#000000;stroke-width:0.264583px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1"
d="m 117.73959,35.718744 -1.32292,2.645833 1.32292,1.322917 1.32291,2.645833 3.96875,-1.322916 2.64584,-2.645834 5.29166,-2.645833 1.32292,-2.645833 -2.64584,-2.645833 v -1.322917 l -3.96874,1.322917 -3.96875,3.96875 z"
id="path5353" />
<path
style="fill:none;stroke:#000000;stroke-width:0.264583px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1"
d="m 64.661954,36.879876 -5.29166,7.9375 -15.875,-10.583333 5.29167,-7.9375 z"
id="path5351-3" />
<path
style="fill:none;stroke:#000000;stroke-width:0.264583px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1"
d="m 60.693204,35.556959 1.32292,2.645833 -1.32292,1.322917 -1.32291,2.645833 -3.96875,-1.322916 -2.64584,-2.645834 -5.29166,-2.645833 -1.32292,-2.645833 2.64584,-2.645833 v -1.322917 l 3.96874,1.322917 3.96875,3.96875 z"
id="path5353-8" />
<path
style="fill:none;stroke:#000000;stroke-width:0.264583px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1"
d="m 113.77084,54.239578 5.29166,7.9375 15.875,-10.583333 -5.29167,-7.9375 z"
id="path5351-33" />
<path
style="fill:none;stroke:#000000;stroke-width:0.264583px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1"
d="m 116.41667,54.239577 3.96875,5.291667 11.90624,-7.9375 -3.96875,-5.291667 -11.90624,7.9375"
id="path5393" />
<path
style="fill:none;stroke:#000000;stroke-width:0.264583px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1"
d="m 64.822918,54.239578 -5.29166,7.9375 -15.875,-10.583333 5.29167,-7.9375 z"
id="path5351-33-8" />
<path
style="fill:none;stroke:#000000;stroke-width:0.264583px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1"
d="m 62.177088,54.239577 -3.96875,5.291667 -11.90624,-7.9375 3.96875,-5.291667 11.90624,7.9375"
id="path5393-0" />
<rect
style="fill:none;stroke:#000000;stroke-width:0.264999"
id="rect5419"
width="11.90625"
height="5.2916665"
x="117.73959"
y="66.145828" />
<path
style="fill:none;stroke:#000000;stroke-width:0.264583px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1"
d="m 115.09393,64.382095 c 0.44088,0.8821 0.88185,2.645986 0.66129,4.409791 -0.22056,1.763804 -1.10249,3.527658 -1.76392,4.630039 -0.66144,1.102381 -1.1024,1.543348 -1.1024,1.543344 10e-6,-5e-6 0.44097,-0.440967 2.205,-0.881961 1.76403,-0.440993 4.85078,-0.881958 8.15813,0.441128 3.30736,1.323086 6.83507,4.409832 8.81944,6.173735 1.98437,1.763903 2.42533,2.204864 2.42533,2.204859 -1e-5,-4e-6 -0.44097,-0.440965 -1.10254,-2.866337 -0.66157,-2.425372 -1.5435,-6.835004 -1.76403,-10.142369 -0.22053,-3.307364 0.22043,-5.512184 0.44093,-6.835074 0.22051,-1.322889 0.22051,-1.763852 0.22051,-1.763848 0,4e-6 0,0.440923 -2.205,1.322799 -2.20499,0.881875 -6.61408,2.204603 -9.70095,2.425204 -3.08686,0.2206 -4.85074,-0.661339 -5.5122,-1.102375 -0.66146,-0.441036 -0.22047,-0.441036 0.22041,0.441065 z"
id="path5421"
inkscape:path-effect="#path-effect5423"
inkscape:original-d="m 115.09376,63.499994 c 0.44124,1.764154 0.88221,3.528041 1.32292,5.291666 -0.8817,1.764189 -1.76363,3.528042 -2.64584,5.291667 -0.44071,0.441246 -0.88168,0.882208 -1.32291,1.322917 0.44124,-0.440717 0.8822,-0.881679 1.32291,-1.322917 3.08713,-0.440716 6.17388,-0.881679 9.26042,-1.322917 3.52811,3.087132 7.05582,6.173875 10.58333,9.260417 0.44125,0.441246 0.88221,0.882208 1.32292,1.322917 -0.44072,-0.440717 -0.88168,-0.881679 -1.32292,-1.322917 -0.8817,-4.409546 -1.76362,-8.819179 -2.64583,-13.229167 0.44124,-2.20464 0.88221,-4.409458 1.32291,-6.614583 2.7e-4,-0.440716 2.7e-4,-0.881679 0,-1.322916 2.7e-4,0.441245 2.6e-4,0.882164 0,1.322916 -4.4099,1.323314 -8.81899,2.646043 -13.22916,3.968751 -1.7637,-0.881717 -3.52758,-1.763655 -5.29167,-2.645834 0.44122,2.65e-4 0.88221,2.64e-4 1.32292,0 z"
sodipodi:nodetypes="cccccccccccccccc" />
<rect
style="fill:none;stroke:#000000;stroke-width:0.264999"
id="rect5419-4"
width="11.90625"
height="5.2916665"
x="-60.854176"
y="66.145828"
transform="scale(-1,1)" />
<path
style="fill:none;stroke:#000000;stroke-width:0.264583px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1"
d="m 63.499831,64.382091 c -0.44088,0.8821 -0.881853,2.645986 -0.661292,4.409791 0.22056,1.763804 1.102489,3.527658 1.763925,4.630039 0.661435,1.102381 1.1024,1.543348 1.102395,1.543344 -4e-6,-5e-6 -0.440964,-0.440967 -1.763934,-0.88195 -1.32297,-0.440984 -3.527246,-0.881838 -6.173351,-0.661389 -2.646104,0.220448 -5.732488,1.102272 -7.93759,2.645829 -2.205101,1.543556 -3.528014,3.748407 -4.409888,5.071212 -0.881873,1.322804 -1.323134,1.764064 -1.32313,1.764059 5e-6,-4e-6 0.440966,-0.440965 1.102536,-2.866337 0.66157,-2.425372 1.543495,-6.835004 1.764029,-10.142369 0.220533,-3.307364 -0.220429,-5.512184 -0.440934,-6.835074 -0.220505,-1.322889 -0.220505,-1.763852 0.507929,-1.176371 0.728434,0.587481 2.185094,2.203449 5.271678,2.644236 3.086583,0.440787 7.803511,-0.293145 9.941489,-0.660133 2.137979,-0.366988 1.697019,-0.366988 1.256138,0.515113 z"
id="path5421-7"
inkscape:path-effect="#path-effect5449"
inkscape:original-d="m 63.500002,63.49999 c -0.44124,1.764154 -0.88221,3.528041 -1.32292,5.291666 0.8817,1.764189 1.76363,3.528042 2.64584,5.291667 0.44071,0.441246 0.88168,0.882208 1.32291,1.322917 -0.44124,-0.440717 -0.8822,-0.881679 -1.32291,-1.322917 -2.205008,-0.440789 -4.409284,-0.881642 -6.614581,-1.322912 -3.086781,0.882278 -6.173165,1.764102 -9.260416,2.645833 -1.322731,2.205254 -2.645643,4.410105 -3.968753,6.614579 -0.440685,0.441213 -0.88221,0.882208 -1.32292,1.322917 0.44072,-0.440717 0.88168,-0.881679 1.32292,-1.322917 0.8817,-4.409546 1.76362,-8.819179 2.64583,-13.229167 -0.44124,-2.20464 -0.88221,-4.409458 -1.32291,-6.614583 -2.7e-4,-0.440716 -2.7e-4,-0.881679 0,-1.322916 1.456883,1.616186 2.913543,3.232154 4.369771,4.847672 4.71697,-0.733633 9.433898,-1.467565 14.151059,-2.201839 -0.44125,2.64e-4 -0.88221,2.64e-4 -1.32292,0 z"
sodipodi:nodetypes="cccccccccccccccc" />
<rect
style="fill:none;stroke:#000000;stroke-width:0.264999"
id="rect5453"
width="11.90625"
height="5.2916665"
x="117.73959"
y="105.83334" />
<rect
style="fill:none;stroke:#000000;stroke-width:0.264999"
id="rect5455"
width="15.875005"
height="9.260417"
x="116.41665"
y="104.51043" />
<rect
style="fill:none;stroke:#000000;stroke-width:0.264999"
id="rect5453-6"
width="11.90625"
height="5.2916665"
x="-60.854176"
y="105.83334"
transform="scale(-1,1)" />
<rect
style="fill:none;stroke:#000000;stroke-width:0.264999"
id="rect5455-8"
width="15.875005"
height="9.260417"
x="-62.177097"
y="104.51042"
transform="scale(-1,1)" />
<path
style="fill:none;stroke:#000000;stroke-width:0.27;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1;stroke-miterlimit:4;stroke-dasharray:0.81,0.81;stroke-dashoffset:0"
d="m 105.83333,95.249999 c 7.49659,-4.850735 14.99312,-9.701429 22.48959,-14.552083"
id="path5481"
inkscape:path-effect="#path-effect5483"
inkscape:original-d="m 105.83333,95.249999 c 7.49679,-4.850429 14.99332,-9.701125 22.48959,-14.552083" />
<path
style="fill:none;stroke:#000000;stroke-width:0.27;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1;stroke-miterlimit:4;stroke-dasharray:0.81,0.81;stroke-dashoffset:0"
d="M 67.468749,95.249999 C 61.295431,90.399535 55.121818,85.548839 48.947916,80.697916"
id="path5485"
inkscape:path-effect="#path-effect5487"
inkscape:original-d="M 67.468749,95.249999 C 61.295404,90.39957 55.121791,85.548874 48.947916,80.697916" />
<ellipse
style="fill:none;stroke:#000000;stroke-width:0.27;stroke-miterlimit:4;stroke-dasharray:0.81,0.81;stroke-dashoffset:0"
id="path5489"
cx="45.640625"
cy="79.375"
rx="3.3072915"
ry="5.2916665" />
<ellipse
style="fill:none;stroke:#000000;stroke-width:0.27;stroke-miterlimit:4;stroke-dasharray:0.81,0.81;stroke-dashoffset:0"
id="path5491"
cx="132.29167"
cy="80.036461"
rx="3.96875"
ry="5.953125" />
</g>
</svg>

After

Width:  |  Height:  |  Size: 15 KiB