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Once the raw point clouds from the cameras are received at the central reconstruction machine, they must be corrected to merge them together. Due to noise and slight alignment errors, the points from one camera and another may not correspond correctly and each may need to be smoothed and moved to minimise the error between the estimated surfaces represented by the point clouds.
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All correction and smoothing operations between camera sources must take place in real-time on the GPU. Typically it would involve finding corresponding points between two cameras and shifting those points closer together whilst maintaining certain constraints such as the original 2D image structure and colours. Smoothing might then involve making an estimate of the actual surface from the noisy data and either removing or moving the outlier noise points onto that surface estimate. This all takes place prior to rendering. |
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