– Assertion miningAssertion-based verification and RTL design and test bench with SystemVerilog and
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کد پروژه: 560277
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Create al 3D point cloud from the range scan the or stereo pair (e.g., starting from the stereo or depth code)
• The formula to convert in 3D points is the classic formula of perspective
projection (you can set the axis as you prefer) •
If you use the range image, not all the pixels on the range image are the projection of a point on the 3D space! Check if there is a code for non valid depths (zeros or negative values). Which is the unit of the depth?
• Create a mesh from the poing cloud exploiting the known connectivity • Points are on a regular grid where the connectivity can be inherited from the pixel neighbourhood,
• You need to triangulate the mesh in the right way! • Coherent triangle orientation • Consider noise/missing data: nearby pixels may not correspond to nearby points on the 3D cloud due to noise/errors in disparity or depth estimation • a “robust” strategy can be used (e.g., not connecting long edges)
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