# 3d误差投影到2d

**Repository Path**: zoukai214/3d-error-projection-to-2d

## Basic Information

- **Project Name**: 3d误差投影到2d
- **Description**: 将3d空间中的每个误差，投影到像素空间，使用像素值来表达
- **Primary Language**: C++
- **License**: Apache-2.0
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 0
- **Created**: 2024-11-18
- **Last Updated**: 2024-11-20

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

<!--
 * @Author       : Zou Kai
 * @Date         : 2024-11-19 18:10:55
 * @Last Modified by: Your Name
 * @Last Modified time: 
 * @Description  : 
-->
# XLAB-Error-Projection

> by Zoukai
> since 2024-11-19

本项目提供了一个针对点云投影误差的计算方法，基于点云投影3d误差转为像素空间中的2d误差，用于在2d图像上评估点云3d空间的投影误差。用户需要结合投影工具使用，结合前后端，将本算法耦合到投影工具中，可以得到每个点投影的误差像素值。

本项目的接口主要基于c++实现。


## Introduction

It contains preprocess as follow:

- loader(for load pcd data)
- transform(Convert point clouds to camera coordinates)
- square_projection (Area of projection error to pixel space)

## Usage


For c++ to use,It must generate a `.a` file
```bash
$ mkdir build
$ cd build
$ cmake ..
$ make
$ cd ..
```

And then, you can generate the "bin" and "lib" folder. 
``` 
$ ./bin/projection_cerr_test pointcloud_path.pcd
```

### Requirements

- yaml
- PCL
- opencv
- eigen