Building Computer Vision Projects with OpenCV 4 and C++

Calibrated cameras and epipolar geometry

Our images begin with a projection. The 3D world they see through the lens is flattened down on the 2D sensor inside the camera, essentially losing all depth information. How can we then go back from 2D images to 3D structures? The answer, in many cases with standard intensity cameras, is MVG. Intuitively, if we can see (in 2D) an object from at least two views, we can estimate its distance from the cameras. We do that constantly as humans, with our two eyes. Our human depth perception comes from multiple (two) views, but not just that. In fact, human visual perception, as it pertains to sensing depth and 3D structure, is very complex and has to do with the muscles and sensors of the eyes, not just ...