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What's the meaning of parallax angle α(the angle between the back-projections of x and x`) #61
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Hi, As you say the angle alpha is the angle between between the rays X-KF and X-CF. That threshold on alpha should not vary much between datasets, you can leave it in 30. Since we are using depth variation to distinguish dynamic elements, we need to filter those variations that are due to normal occlusion of static elements. The way we do it is by putting a threshold in the parallax angle. If it is greater than 30 then occlusion may be due to static elements and not dynamic. So we cant consider them dynamic. Best |
Thank you for your reply. But I'm still not sure what's the |
I'm still thinking about it. In fig(b), how we find the x'(blue +)? |
Another question I'v mentioned in issue-56 Q4 is: |
B, we know the pose from the light tracking. |
Back-projection it refers to the point in the 3D from its projected view in the image and depth |
Thank you so much. Happy to refresh this web page and see your reply. |
If the parallax angle is less than 30 (α<30°), the camera has not moved as much, and therefor if there is an occlusion it is likely to be produced by a dynamic element in the scene. When it is bigger than 30 the occlusion could be just be a normal occlusion. |
Sorry, |
Edited. Thanks |
Thank you very much. Solve my doubts which lasted for months :) |
Oh here is another related issue. I had understood more about the code of |
@jmfacil Hi, sorry to bother you. I am confused about a question in the code recently. I understood the idea about parallax angle. In code |
Hey, I'm bothered by the same question. Have u figured it out yet? |
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What's the meaning of parallax angle α (the angle between the back-projections of x and x
![image](https://user-images.githubusercontent.com/18650200/102581910-77484400-413c-11eb-99f8-62c246e90d48.png)
![image](https://user-images.githubusercontent.com/18650200/102581922-816a4280-413c-11eb-9ccd-e08c4473f0f6.png)
) ? I'm not sure what the
back-projectionsmean? Does it mean a method of finding features by Histogram model? But the source code do not mention anything about Histogram model. Is the α just the angle between X-x and X-x
like Fig,3? If so, when I change data set, how can I evaluate which parallax angles threshold is better?Waiting for your reply. Thank you!
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