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Before the reconstruction can begin each camera must be calibrated in the following ways:
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* Lens correction
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* Stereo camera rectification (align the camera pairs to each other)
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* Pose estimation (registration) to know where camera pairs are in the room relative to each other
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All of the above steps are currently done offline using a special purpose app that takes approximately 30 mins to complete. However, during everyday use the cameras can and do move slightly as they are turned on and off or are knocked by visitors. It is possible, and there are lots of examples, to refine the camera position estimates live whilst the system is running to both correct these small movements and to improve upon the original estimate. Such approaches are typically called "online ICP" or Iterative Closest Points (Iterative Corresponding Points).
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Essentially, in a separate background thread, a new estimate of camera positions is made by looking to minimise the errors between the closest/corresponding points between different camera views. |
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