Detecting 3 Orthogonal Vanishing Points + Using Planar Homography for 3D Plane Segmentation

stillbreeze, updated 🕥 2022-12-08 07:00:20

Vanishing Point Detection and 3D Plane Segmentation


Two different problems are solved here. The first is automatically finding 3 orthogonal vanishing points in Manhattan scenes. Second is detecting and segmenting planar regions of images in 3D.


Automatic vanishing point detection

  • Edge Detection using Canny
  • Line segmenta formation using Probabilistic Hough Transforms
  • Identification of 3 dominant directions of line segments using iterative RANSAC
  • Finding best fitting vanishing points for each direction


Homography Based Plane Segmentation in 3D

  • Getting SIFT features and stereo correspondences
  • Autocalibration using vanishing points
  • Estimating fundamental matrix and essential matrix from correspondences and camera intrinsics
  • Computing the camera matrices for the stereo pair from the essential matrix
  • Triangulating the 3D points using the correspondences and the camera matrices
  • Running iterative RANSAC to find dominant planes in 3D
  • Projecting 3D points to 2D and finding planar homography for each identified plane
  • Using a convex hull on the projected points to get all the pixels on each plane in 2D
  • Finding dense correspondences using the convex hull points and the planar homography for each plane
  • Triangulating dense 3D points using the dense 2d correspondences for each plane

Feature points and stereo correspondences

3D point triangulation after autocalibrating and computing camera matrices

Estimating dominant planes in 3D with iterative RANSAC

Projecting 3D plane points and finding planar homography

Fitting a convex hull and getting dense 2D points on each plane

Triangulating dense 3D points for each plane


Issues

Bump certifi from 2019.9.11 to 2022.12.7

opened on 2022-12-08 07:00:19 by dependabot[bot]

Bumps certifi from 2019.9.11 to 2022.12.7.

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Bump pillow from 5.4.1 to 9.3.0

opened on 2022-11-22 03:37:21 by dependabot[bot]

Bumps pillow from 5.4.1 to 9.3.0.

Release notes

Sourced from pillow's releases.

9.3.0

https://pillow.readthedocs.io/en/stable/releasenotes/9.3.0.html

Changes

... (truncated)

Changelog

Sourced from pillow's changelog.

9.3.0 (2022-10-29)

  • Limit SAMPLESPERPIXEL to avoid runtime DOS #6700 [wiredfool]

  • Initialize libtiff buffer when saving #6699 [radarhere]

  • Inline fname2char to fix memory leak #6329 [nulano]

  • Fix memory leaks related to text features #6330 [nulano]

  • Use double quotes for version check on old CPython on Windows #6695 [hugovk]

  • Remove backup implementation of Round for Windows platforms #6693 [cgohlke]

  • Fixed set_variation_by_name offset #6445 [radarhere]

  • Fix malloc in _imagingft.c:font_setvaraxes #6690 [cgohlke]

  • Release Python GIL when converting images using matrix operations #6418 [hmaarrfk]

  • Added ExifTags enums #6630 [radarhere]

  • Do not modify previous frame when calculating delta in PNG #6683 [radarhere]

  • Added support for reading BMP images with RLE4 compression #6674 [npjg, radarhere]

  • Decode JPEG compressed BLP1 data in original mode #6678 [radarhere]

  • Added GPS TIFF tag info #6661 [radarhere]

  • Added conversion between RGB/RGBA/RGBX and LAB #6647 [radarhere]

  • Do not attempt normalization if mode is already normal #6644 [radarhere]

... (truncated)

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Bump lxml from 4.3.1 to 4.9.1

opened on 2022-07-06 20:24:51 by dependabot[bot]

Bumps lxml from 4.3.1 to 4.9.1.

Changelog

Sourced from lxml's changelog.

4.9.1 (2022-07-01)

Bugs fixed

  • A crash was resolved when using iterwalk() (or canonicalize()) after parsing certain incorrect input. Note that iterwalk() can crash on valid input parsed with the same parser after failing to parse the incorrect input.

4.9.0 (2022-06-01)

Bugs fixed

  • GH#341: The mixin inheritance order in lxml.html was corrected. Patch by xmo-odoo.

Other changes

  • Built with Cython 0.29.30 to adapt to changes in Python 3.11 and 3.12.

  • Wheels include zlib 1.2.12, libxml2 2.9.14 and libxslt 1.1.35 (libxml2 2.9.12+ and libxslt 1.1.34 on Windows).

  • GH#343: Windows-AArch64 build support in Visual Studio. Patch by Steve Dower.

4.8.0 (2022-02-17)

Features added

  • GH#337: Path-like objects are now supported throughout the API instead of just strings. Patch by Henning Janssen.

  • The ElementMaker now supports QName values as tags, which always override the default namespace of the factory.

Bugs fixed

  • GH#338: In lxml.objectify, the XSI float annotation "nan" and "inf" were spelled in lower case, whereas XML Schema datatypes define them as "NaN" and "INF" respectively.

... (truncated)

Commits
  • d01872c Prevent parse failure in new test from leaking into later test runs.
  • d65e632 Prepare release of lxml 4.9.1.
  • 86368e9 Fix a crash when incorrect parser input occurs together with usages of iterwa...
  • 50c2764 Delete unused Travis CI config and reference in docs (GH-345)
  • 8f0bf2d Try to speed up the musllinux AArch64 build by splitting the different CPytho...
  • b9f7074 Remove debug print from test.
  • b224e0f Try to install 'xz' in wheel builds, if available, since it's now needed to e...
  • 897ebfa Update macOS deployment target version from 10.14 to 10.15 since 10.14 starts...
  • 853c9e9 Prepare release of 4.9.0.
  • d3f77e6 Add a test for https://bugs.launchpad.net/lxml/+bug/1965070 leaving out the a...
  • Additional commits viewable in compare view


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Bump numpy from 1.15.4 to 1.22.0

opened on 2022-06-21 23:42:16 by dependabot[bot]

Bumps numpy from 1.15.4 to 1.22.0.

Release notes

Sourced from numpy's releases.

v1.22.0

NumPy 1.22.0 Release Notes

NumPy 1.22.0 is a big release featuring the work of 153 contributors spread over 609 pull requests. There have been many improvements, highlights are:

  • Annotations of the main namespace are essentially complete. Upstream is a moving target, so there will likely be further improvements, but the major work is done. This is probably the most user visible enhancement in this release.
  • A preliminary version of the proposed Array-API is provided. This is a step in creating a standard collection of functions that can be used across application such as CuPy and JAX.
  • NumPy now has a DLPack backend. DLPack provides a common interchange format for array (tensor) data.
  • New methods for quantile, percentile, and related functions. The new methods provide a complete set of the methods commonly found in the literature.
  • A new configurable allocator for use by downstream projects.

These are in addition to the ongoing work to provide SIMD support for commonly used functions, improvements to F2PY, and better documentation.

The Python versions supported in this release are 3.8-3.10, Python 3.7 has been dropped. Note that 32 bit wheels are only provided for Python 3.8 and 3.9 on Windows, all other wheels are 64 bits on account of Ubuntu, Fedora, and other Linux distributions dropping 32 bit support. All 64 bit wheels are also linked with 64 bit integer OpenBLAS, which should fix the occasional problems encountered by folks using truly huge arrays.

Expired deprecations

Deprecated numeric style dtype strings have been removed

Using the strings "Bytes0", "Datetime64", "Str0", "Uint32", and "Uint64" as a dtype will now raise a TypeError.

(gh-19539)

Expired deprecations for loads, ndfromtxt, and mafromtxt in npyio

numpy.loads was deprecated in v1.15, with the recommendation that users use pickle.loads instead. ndfromtxt and mafromtxt were both deprecated in v1.17 - users should use numpy.genfromtxt instead with the appropriate value for the usemask parameter.

(gh-19615)

... (truncated)

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Bump ipython from 7.4.0 to 7.16.3

opened on 2022-01-21 20:09:27 by dependabot[bot]

Bumps ipython from 7.4.0 to 7.16.3.

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Bump dask from 1.1.1 to 2021.10.0

opened on 2021-10-27 18:57:40 by dependabot[bot]

Bumps dask from 1.1.1 to 2021.10.0.

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Syed Ashar Javed

Graduate student at CMU

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