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敦煌之旅：准备篇
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拉萨之旅：游记篇
一个星期前的今天，我还在拉萨的街头漫无目的地游走，围着布达拉宫一遍遍换着角度地为它拍照，走在冲赛康集市的街头，看着摆着小铺卖蔬菜和牦牛肉的小摊贩，绕着八廓街一圈一圈地走，冲着虔诚跪拜和摇着经筒的信徒一次次按下快门。一星期后，我又回到了平原和都市，离拉萨已是千里，高反的痛苦也仿佛是一个世纪前的回忆，目光所及的也是看了二十多年的旧风景。我坐下欲好好回忆梳理所遇到的每件事情，竟然好笑的发现，有些事情已经变得有些模糊，我已经记不清在布达拉宫看了哪几位达赖喇嘛的灵塔殿，也记不清支撑大昭寺的柱子为何如此珍贵引得游人纷纷触摸。好在并非所有的记忆都变模糊了，这篇日志就是对幸存在我记忆里的事情的记述。
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拉萨之旅：准备篇
这篇日志是我西藏之旅一个月前的准备工作记录，包括景点罗列、历史简介、门票预购、游览路线等信息。我在拉萨只待短短的四天五夜的时间，期间我会去了拉萨市内最著名的景点，也会走在当地古老的街头混在本地人中看他们的日常。西藏太广袤，短短四天的旅程实在是不能让我领略这个地方，加之这是我第一次来西藏背包游，亦没有足够的时间去别的城市，所以我的攻略只包括拉萨市内和邻近的景点。
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Configure a new Mac
Install Xcode
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15 things to do in every city
Here is a list things I want to do in every city I have lived:
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Estimate focal length from Homography
This post discusses estimating focal length from Homography. This technique tries to estimate focal lengths from the given homography under the assumption that the camera undergoes rotations around its centre only. The original paper is Construction of Panoramic Image Mosaics with Global and Local Alignment. The OpenCV implementation can be found here.
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Estimate relative pose from Essential matrix
This post discusses estimating relative camera positions and orientations from Essential matrix.
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Bundle adjustment of Structure from Motion in Ceres Solver
Bundle adjustment is used ubiquitously as the last step of most feature based estimation problems. The goal is to simultaneously optimize the motion and data (estimated 2D feature or 3D point position). Some popular open source libraries are: sparse bundle adjustment (sba), ceres solver, Multicore Bundle Adjustment, Simple Sparse Bundle Adjustment (SSBA). In this post, I focus only on ceres solver. I’ll add support for sba in future release of open3DCV.
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Feature matching
Feature matching is a critical part in many vision problems, such as estimation of various matrices (projection, homography, essential, fundamental, relative post, etc), tracking, SfM and SLAM, just to name a few. I will discuss here in this post implementation of the feature matching algorithms implemented in open3DCV.
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Robust Estimation of Fundamental Matrix
This post is the results of two previous post: Estimation of fundamental matrix and A framework for RANSAC.