{"id":38728,"date":"2024-11-02T00:56:38","date_gmt":"2024-11-02T00:56:38","guid":{"rendered":"http:\/\/atmokpo.com\/w\/?p=38728"},"modified":"2024-11-26T06:43:31","modified_gmt":"2024-11-26T06:43:31","slug":"opencv-%ea%b0%95%ec%a2%8c-3d-%ec%9e%ac%ea%b5%ac%ec%84%b1%ec%9d%84-%ec%9c%84%ed%95%9c-point-cloud-%ec%83%9d%ec%84%b1","status":"publish","type":"post","link":"https:\/\/atmokpo.com\/w\/38728\/","title":{"rendered":"OpenCV \uac15\uc88c, 3D \uc7ac\uad6c\uc131\uc744 \uc704\ud55c Point Cloud \uc0dd\uc131"},"content":{"rendered":"<article>\n<header>\n<p>Author: \uc791\uc131\uc790 | Date: 2023\ub144 10\uc6d4 15\uc77c<\/p>\n<\/header>\n<section>\n<h2>1. \uc11c\ub860<\/h2>\n<p>3D \uc7ac\uad6c\uc131 \uae30\uc220\uc740 \ucef4\ud4e8\ud130 \ube44\uc804 \ubc0f \ucef4\ud4e8\ud130 \uadf8\ub798\ud53d \ubd84\uc57c\uc5d0\uc11c \uc911\uc694\ud55c \uc5ed\ud560\uc744 \ud569\ub2c8\ub2e4. \ud2b9\ud788, \uc810\uad70(Point Cloud)\uc740 3D \ubaa8\ub378\uc744 \uc0dd\uc131\ud558\uace0 \ubd84\uc11d\ud558\ub294 \ub370 \ud544\uc218\uc801\uc778 \ub370\uc774\ud130 \uad6c\uc870\ub85c \uc790\ub9ac\uc7a1\uace0 \uc788\uc2b5\ub2c8\ub2e4. \ubcf8 \uac15\uc88c\uc5d0\uc11c\ub294 OpenCV\ub97c \uc0ac\uc6a9\ud558\uc5ec 3D \uc7ac\uad6c\uc131\uc744 \uc704\ud574 \uc810\uad70\uc744 \uc0dd\uc131\ud558\ub294 \ubc29\ubc95\uc5d0 \ub300\ud574 \uc0c1\uc138\ud558\uac8c \uc124\uba85\ud558\uaca0\uc2b5\ub2c8\ub2e4.<\/p>\n<p>OpenCV\ub294 \uc774\ubbf8\uc9c0 \ubc0f \ube44\ub514\uc624 \ucc98\ub9ac\uc5d0 \uac15\ub825\ud55c \ub77c\uc774\ube0c\ub7ec\ub9ac\ub85c, \ub2e4\uc591\ud55c \uae30\ub2a5\uc744 \uc81c\uacf5\ud569\ub2c8\ub2e4. \ubcf8 \uc7a5\uc5d0\uc11c\ub294 OpenCV\uc758 \uae30\ubcf8\uc801\uc778 \uc0ac\uc6a9\ubc95\uacfc \ud568\uaed8 3D \uc7ac\uad6c\uc131\uc744 \uc704\ud55c \uc810\uad70 \uc0dd\uc131 \uacfc\uc815\uc744 \ub2e8\uacc4\ubcc4\ub85c \uc0b4\ud3b4\ubcf4\uaca0\uc2b5\ub2c8\ub2e4.<\/p>\n<\/section>\n<section>\n<h2>2. OpenCV \uc124\uce58<\/h2>\n<p>OpenCV\ub97c \uc0ac\uc6a9\ud558\uae30 \uc704\ud574 \uba3c\uc800 \uc124\uce58\ud574\uc57c \ud569\ub2c8\ub2e4. Python \ubc84\uc804 OpenCV\ub97c \uc124\uce58\ud558\ub294 \uac00\uc7a5 \uac04\ub2e8\ud55c \ubc29\ubc95\uc740 pip \ud328\ud0a4\uc9c0 \uad00\ub9ac\uc790\ub97c \uc0ac\uc6a9\ud558\ub294 \uac83\uc785\ub2c8\ub2e4. \ub2e4\uc74c \uba85\ub839\uc5b4\ub97c \ud130\ubbf8\ub110\uc5d0 \uc785\ub825\ud574 OpenCV\ub97c \uc124\uce58\ud558\uc138\uc694.<\/p>\n<pre><code>pip install opencv-python<\/code><\/pre>\n<p>\ucd94\uac00\uc801\uc73c\ub85c 3D \uc7ac\uad6c\uc131\uacfc \uac19\uc740 \uace0\uae09 \uae30\ub2a5\uc744 \uc0ac\uc6a9\ud558\uae30 \uc704\ud574 OpenCV\uc758 contrib \ubaa8\ub4c8\ub3c4 \uc124\uce58\ud558\ub294 \uac83\uc774 \uc88b\uc2b5\ub2c8\ub2e4.<\/p>\n<pre><code>pip install opencv-contrib-python<\/code><\/pre>\n<\/section>\n<section>\n<h2>3. \uae30\ubcf8 \uac1c\ub150: \uc810\uad70(Point Cloud)<\/h2>\n<p>\uc810\uad70\uc740 3D \uacf5\uac04\uc5d0\uc11c\uc758 \uc810\uc758 \uc9d1\ud569\uc73c\ub85c, \uac01 \uc810\uc740 3D \uc88c\ud45c(x, y, z)\ub85c \ud45c\ud604\ub429\ub2c8\ub2e4. \uc810\uad70\uc740 \uc77c\ubc18\uc801\uc73c\ub85c 3D \uad6c\uc870\ub97c \ubcf5\uc6d0\ud558\uac70\ub098 \ubb3c\uccb4 \uc778\uc2dd, \ud658\uacbd \ub9e4\ud551, \ub85c\ubd07 \ub0b4\ube44\uac8c\uc774\uc158, \uc99d\uac15 \ud604\uc2e4 \ub4f1\uc758 \ubd84\uc57c\uc5d0\uc11c \uc0ac\uc6a9\ub429\ub2c8\ub2e4.<\/p>\n<p>\uc810\uad70\uc740 \ub2e4\uc591\ud55c \ubc29\ubc95\uc73c\ub85c \uc0dd\uc131\ub420 \uc218 \uc788\uc73c\uba70, \uc77c\ubc18\uc801\uc73c\ub85c \uc2a4\ud14c\ub808\uc624 \ube44\uc804, \ub77c\uc774\ub2e4(LiDAR) \ub610\ub294 \uc5ec\ub7ec \uc774\ubbf8\uc9c0\ub85c\ubd80\ud130\uc758 Depth Map\uc744 \uc0ac\uc6a9\ud558\uc5ec \uc0dd\uc131\ub429\ub2c8\ub2e4.<\/p>\n<\/section>\n<section>\n<h2>4. 3D \uc7ac\uad6c\uc131 \uac1c\uc694<\/h2>\n<p>3D \uc7ac\uad6c\uc131 \uacfc\uc815\uc740 \uc77c\ubc18\uc801\uc73c\ub85c \ub2e4\uc74c\uacfc \uac19\uc740 \ub2e8\uacc4\ub85c \uc774\ub8e8\uc5b4\uc9d1\ub2c8\ub2e4:<\/p>\n<ol>\n<li>\uc774\ubbf8\uc9c0 \ucea1\ucc98: \uc5ec\ub7ec \uac01\ub3c4\uc5d0\uc11c \ucd2c\uc601\ud55c \uc774\ubbf8\uc9c0 \uc218\uc9d1<\/li>\n<li>\ud2b9\uc9d5 \ucd94\ucd9c: \uc774\ubbf8\uc9c0\uc5d0\uc11c \ud2b9\uc9d5\uc810\uc744 \ucd94\ucd9c<\/li>\n<li>\ub9e4\uce6d: \uc11c\ub85c \ub2e4\ub978 \uc774\ubbf8\uc9c0\uc5d0\uc11c \ud2b9\uc9d5\uc810\uc744 \ub9e4\uce6d<\/li>\n<li>\uc0bc\uac01 \uce21\ub7c9: \ub9e4\uce6d\ub41c \ud2b9\uc9d5\uc810\uc744 \uc0ac\uc6a9\ud558\uc5ec 3D \ud3ec\uc778\ud2b8 \uacc4\uc0b0<\/li>\n<li>\ud3ec\uc778\ud2b8 \ud074\ub77c\uc6b0\ub4dc \uc0dd\uc131: 3D \uc810\uad70 \uc0dd\uc131<\/li>\n<\/ol>\n<p>\uc774 \uac15\uc88c\uc5d0\uc11c\ub294 OpenCV\uc758 SIFT(Scale-Invariant Feature Transform) \ub610\ub294 ORB(Oriented FAST and Rotated BRIEF) \uc54c\uace0\ub9ac\uc998\uc744 \uc0ac\uc6a9\ud558\uc5ec 3D \uc810\uad70\uc744 \uc0dd\uc131\ud558\ub294 \ubc29\ubc95\uc744 \uc124\uba85\ud569\ub2c8\ub2e4.<\/p>\n<\/section>\n<section>\n<h2>5. \uc900\ube44 \ub2e8\uacc4: \uc774\ubbf8\uc9c0 \ucd2c\uc601<\/h2>\n<p>3D \uc7ac\uad6c\uc131\uc744 \uc704\ud574\uc11c\ub294 \ub3d9\uc77c\ud55c \ub300\uc0c1\uc758 \ub2e4\uc591\ud55c \uac01\ub3c4\uc5d0\uc11c \uc774\ubbf8\uc9c0\ub97c \ucd2c\uc601\ud574\uc57c \ud569\ub2c8\ub2e4. \uac01 \uc774\ubbf8\uc9c0\ub294 \uace0\uc815\ub41c \uce74\uba54\ub77c \uc704\uce58\uc5d0\uc11c \ub3d9\uc77c\ud55c \ud328\ud134\uc774 \ubcf4\uc774\ub3c4\ub85d \ud569\ub2c8\ub2e4.<\/p>\n<p>\ubaa8\ub4e0 \uc774\ubbf8\uc9c0\ub294 \ub3d9\uc77c\ud55c \uc870\uba85 \uc870\uac74\uc5d0\uc11c \ucd2c\uc601\ub418\uc5b4\uc57c \ud558\uba70, \uac01 \uc774\ubbf8\uc9c0\uc758 \ud574\uc0c1\ub3c4\ub3c4 \uc77c\uad00\ub418\uac8c \uc720\uc9c0\ub418\uc5b4\uc57c \ud569\ub2c8\ub2e4.<\/p>\n<\/section>\n<section>\n<h2>6. \ud2b9\uc9d5 \ucd94\ucd9c \ubc0f \ub9e4\uce6d<\/h2>\n<p>\ud2b9\uc9d5 \ucd94\ucd9c\uc740 \uc774\ubbf8\uc9c0\uc5d0\uc11c \uc911\uc694\ud55c \uc815\ubcf4\ub97c \uc2dd\ubcc4\ud558\ub294 \uacfc\uc815\uc785\ub2c8\ub2e4. OpenCV\ub97c \uc0ac\uc6a9\ud558\uc5ec \uc774\ubbf8\uc9c0\uc5d0\uc11c SIFT \ub610\ub294 ORB \uc54c\uace0\ub9ac\uc998\uc73c\ub85c \ud2b9\uc9d5\uc744 \ucd94\ucd9c\ud558\uace0, \uc11c\ub85c \ub2e4\ub978 \uc774\ubbf8\uc9c0\uc5d0\uc11c \uc774\ub4e4\uc744 \ub9e4\uce6d\ud558\ub294 \ubc29\ubc95\uc744 \uc0b4\ud3b4\ubcf4\uaca0\uc2b5\ub2c8\ub2e4.<\/p>\n<pre><code>\nimport cv2\nimport numpy as np\n\n# \uc774\ubbf8\uc9c0 \uc77d\uae30\nimg1 = cv2.imread('image1.jpg', cv2.IMREAD_GRAYSCALE)\nimg2 = cv2.imread('image2.jpg', cv2.IMREAD_GRAYSCALE)\n\n# ORB \ub514\uc2a4\ud06c\ub9bd\ud130 \uc0dd\uc131\norb = cv2.ORB_create()\n\n# \ud0a4\ud3ec\uc778\ud2b8\uc640 \ub514\uc2a4\ud06c\ub9bd\ud130 \ucc3e\uae30\nkeypoints1, descriptors1 = orb.detectAndCompute(img1, None)\nkeypoints2, descriptors2 = orb.detectAndCompute(img2, None)\n\n# \ub9e4\uce6d \uac1d\uccb4 \uc0dd\uc131\nbf = cv2.BFMatcher(cv2.NORM_HAMMING, crossCheck=True)\n\n# \ub9e4\uce6d \uc218\ud589\nmatches = bf.match(descriptors1, descriptors2)\n\n# \ub9e4\uce6d \uacb0\uacfc\ub97c \uc815\ub82c\nmatches = sorted(matches, key=lambda x: x.distance)\n\n# \ub9e4\uce6d \uacb0\uacfc\ub97c \uadf8\ub9ac\uae30\nimg_matches = cv2.drawMatches(img1, keypoints1, img2, keypoints2, matches[:50], None)\ncv2.imshow('Matches', img_matches)\ncv2.waitKey(0)\ncv2.destroyAllWindows()\n        <\/code><\/pre>\n<p>\uc704 \ucf54\ub4dc\uc5d0\uc11c\ub294 ORB \uc54c\uace0\ub9ac\uc998\uc744 \uc0ac\uc6a9\ud558\uc5ec \ub450 \uc774\ubbf8\uc9c0\ub97c \ucc98\ub9ac\ud558\uace0, \ud2b9\uc9d5\uc810\uc744 \uac80\ucd9c\ud55c \ud6c4 BFMatcher\ub97c \uc774\uc6a9\ud574 \uc810\ub4e4\uc744 \ub9e4\uce6d\ud569\ub2c8\ub2e4. \ucd5c\uc885\uc801\uc73c\ub85c \ub9e4\uce6d\ub41c \uacb0\uacfc\ub97c \ud654\uba74\uc5d0 \ud45c\uc2dc\ud569\ub2c8\ub2e4.<\/p>\n<\/section>\n<section>\n<h2>7. \uc0bc\uac01 \uce21\ub7c9<\/h2>\n<p>\uc138 \uac1c\uc758 \uc774\ubbf8\uc9c0 \ub610\ub294 \ub450 \uac1c\uc758 \uc774\ubbf8\uc9c0\uc5d0\uc11c \ucc3e\uc740 \ub9e4\uce6d\ub41c \ud2b9\uc9d5\uc810\ub4e4\uc744 \uc0ac\uc6a9\ud558\uc5ec 3D \uc88c\ud45c\ub97c \uacc4\uc0b0\ud558\ub294 \uc0bc\uac01 \uce21\ub7c9(triangulation) \uae30\ubc95\uc744 \uc801\uc6a9\ud560 \uc218 \uc788\uc2b5\ub2c8\ub2e4. \uc774 \ub2e8\uacc4\uc5d0\uc11c\ub294 \uce74\uba54\ub77c\uc758 \ub0b4\ubd80 \ubc0f \uc678\ubd80 \ud30c\ub77c\ubbf8\ud130\uac00 \ud544\uc694\ud569\ub2c8\ub2e4.<\/p>\n<pre><code>\n# \uce74\uba54\ub77c \ub9e4\ud2b8\ub9ad\uc2a4 \ubc0f \ud68c\uc804, \uc774\ub3d9 \ubca1\ud130 \uc124\uc815\nK = np.array([[fx, 0, cx],\n              [0, fy, cy],\n              [0, 0, 1]])\n\n# \ub450 \uce74\uba54\ub77c\uc758 \uc704\uce58 \ubc0f \ubc29\ud5a5 \uc815\uc758\nR1 = np.eye(3)\nt1 = np.array([[0], [0], [0]])\nR2 = ...  # \ub450 \ubc88\uc9f8 \uce74\uba54\ub77c\uc758 \ud68c\uc804 \ud589\ub82c\nt2 = ...  # \ub450 \ubc88\uc9f8 \uce74\uba54\ub77c\uc758 \uc774\ub3d9 \ubca1\ud130\n\n# \uc0bc\uac01 \uce21\ub7c9\npoints_4d = cv2.triangulatePoints(np.hstack((R1, t1)), np.hstack((R2, t2)), points1.T, points2.T)\npoints_3d = points_4d \/ points_4d[3]\n        <\/code><\/pre>\n<p>\uc704 \ucf54\ub4dc\uc5d0\uc11c\ub294 \ub450 \uce74\uba54\ub77c\uc758 \ub9e4\ud2b8\ub9ad\uc2a4\uc640 \ud68c\uc804, \uc774\ub3d9 \ubca1\ud130\ub97c \uc815\uc758\ud55c \ud6c4 OpenCV\uc758 <code>triangulatePoints<\/code> \ud568\uc218\ub97c \uc0ac\uc6a9\ud558\uc5ec 3D \ud3ec\uc778\ud2b8\ub97c \ucd94\ucd9c\ud569\ub2c8\ub2e4.<\/p>\n<\/section>\n<section>\n<h2>8. \ud3ec\uc778\ud2b8 \ud074\ub77c\uc6b0\ub4dc \uc0dd\uc131<\/h2>\n<p>\ucd5c\uc885\uc801\uc73c\ub85c \uc0bc\uac01 \uce21\ub7c9 \uacb0\uacfc\ub97c \ubc14\ud0d5\uc73c\ub85c \ud3ec\uc778\ud2b8 \ud074\ub77c\uc6b0\ub4dc\ub97c \uc0dd\uc131\ud560 \uc218 \uc788\uc2b5\ub2c8\ub2e4. \ud3ec\uc778\ud2b8 \ud074\ub77c\uc6b0\ub4dc\ub294 3D \ubaa8\ub378\ub9c1 \ubc0f \uc7ac\uad6c\uc131\uc744 \uc704\ud55c \uae30\ubcf8 \ub370\uc774\ud130 \uad6c\uc870\uc785\ub2c8\ub2e4.<\/p>\n<pre><code>\n# X, Y, Z \uc88c\ud45c\ub85c \uad6c\uc131\ub41c \uc810 \uad70 \uc0dd\uc131\npoint_cloud = np.vstack((points_3d[0], points_3d[1], points_3d[2])).T\n\n# \ud3ec\uc778\ud2b8 \ud074\ub77c\uc6b0\ub4dc \uc800\uc7a5\nnp.savetxt('point_cloud.ply', point_cloud, header='ply\\nformat ascii 1.0\\n', comments='')\n        <\/code><\/pre>\n<p>\uc704 \ucf54\ub4dc\ub294 \uc0bc\uac01 \uce21\ub7c9\uc744 \ud1b5\ud574 \uad6c\ud55c 3D \uc88c\ud45c\ub97c \ubc30\uc5f4\ub85c \uacb0\ud569\ud55c \ud6c4 .ply \ud615\uc2dd\uc73c\ub85c \ud30c\uc77c\uc5d0 \uc800\uc7a5\ud569\ub2c8\ub2e4. .ply \ud3ec\ub9f7\uc740 \ud3ec\uc778\ud2b8 \ud074\ub77c\uc6b0\ub4dc \ub370\uc774\ud130\ub97c \ud45c\uc900\ud654\ud558\uc5ec \uc800\uc7a5\ud558\ub294 \ub370 \uc0ac\uc6a9\ub429\ub2c8\ub2e4.<\/p>\n<\/section>\n<section>\n<h2>9. \ud3ec\uc778\ud2b8 \ud074\ub77c\uc6b0\ub4dc \uc2dc\uac01\ud654<\/h2>\n<p>OpenCV\ub294 \ud3ec\uc778\ud2b8 \ud074\ub77c\uc6b0\ub4dc\ub97c \uc9c1\uc811 \uc2dc\uac01\ud654\ud558\ub294 \uae30\ub2a5\uc744 \uc81c\uacf5\ud558\uc9c0 \uc54a\uc9c0\ub9cc, \ub2e4\uc591\ud55c \uc2dc\uac01\ud654 \ub77c\uc774\ube0c\ub7ec\ub9ac\uc640 \ud568\uaed8 \uc0ac\uc6a9\ud560 \uc218 \uc788\uc2b5\ub2c8\ub2e4. \uc608\ub97c \ub4e4\uc5b4, <code>PCL(Point Cloud Library)<\/code>\ub97c \uc0ac\uc6a9\ud558\uc5ec \uc0dd\uc131\ud55c \ud3ec\uc778\ud2b8 \ud074\ub77c\uc6b0\ub4dc\ub97c \uc2dc\uac01\ud654\ud560 \uc218 \uc788\uc2b5\ub2c8\ub2e4.<\/p>\n<pre><code>\nimport pclpy\nfrom pclpy import pcl\n\n# \ud3ec\uc778\ud2b8 \ud074\ub77c\uc6b0\ub4dc \ub85c\ub529\ncloud = pcl.PointCloud.PointXYZ()\npcl.io.loadPCDFile('point_cloud.ply', cloud)\n\n# \ud504\ub808\uc784\uc6cc\ud06c\ub97c \uc0ac\uc6a9\ud55c \uc2dc\uac01\ud654\nvis = pcl.visualization.PCLVisualizer('PointCloud Viewer')\nvis.addPointCloud(cloud)\nvis.spin()\n        <\/code><\/pre>\n<p>\uc704 \ucf54\ub4dc\ub294 PCL \ub77c\uc774\ube0c\ub7ec\ub9ac\ub97c \ud65c\uc6a9\ud558\uc5ec .ply \ud30c\uc77c\ub85c \uc800\uc7a5\ub41c \ud3ec\uc778\ud2b8 \ud074\ub77c\uc6b0\ub4dc\ub97c \ub85c\ub4dc\ud55c \ud6c4, \uc774\ub97c \uc2dc\uac01\ud654\ud558\ub294 \ubc29\ubc95\uc744 \ubcf4\uc5ec\uc90d\ub2c8\ub2e4.<\/p>\n<\/section>\n<section>\n<h2>10. \uacb0\ub860<\/h2>\n<p>\ubcf8 \uac15\uc88c\ub97c \ud1b5\ud574 OpenCV\ub97c \uc774\uc6a9\ud55c 3D \uc7ac\uad6c\uc131\uc744 \uc704\ud55c \ud3ec\uc778\ud2b8 \ud074\ub77c\uc6b0\ub4dc \uc0dd\uc131 \ubc29\ubc95\uc744 \uc0b4\ud3b4\ubcf4\uc558\uc2b5\ub2c8\ub2e4. \ub2e4\uc591\ud55c \uae30\ubc95\ub4e4\uc744 \uc801\uc808\ud788 \uc870\ud569\ud558\uc5ec \uc2e4\uc9c8\uc801\uc778 \ubb38\uc81c\ub97c \ud574\uacb0\ud560 \uc218 \uc788\ub294 \ub2a5\ub825\uc744 \uae38\ub7ec\uc57c \ud569\ub2c8\ub2e4. 3D \uc7ac\uad6c\uc131\uc740 \uc5ec\ub7ec \uc0b0\uc5c5\uc5d0\uc11c \uc751\uc6a9\ub420 \uc218 \uc788\ub294 \uc911\uc694\ud55c \uae30\uc220\uc774\ubbc0\ub85c, \uac01 \uc54c\uace0\ub9ac\uc998\uacfc \ub3c4\uad6c\ub97c \ud65c\uc6a9\ud558\uc5ec \ub2e4\uc591\ud55c \ud504\ub85c\uc81d\ud2b8\uc5d0 \ub3c4\uc804\ud574 \ubcf4\uc2dc\uae30 \ubc14\ub78d\ub2c8\ub2e4.<\/p>\n<\/section>\n<footer>\n<p>\uc800\uc790: \uc791\uc131\uc790 | \uc774\uba54\uc77c: example@example.com<\/p>\n<\/footer>\n<\/article>\n","protected":false},"excerpt":{"rendered":"<p>Author: \uc791\uc131\uc790 | Date: 2023\ub144 10\uc6d4 15\uc77c 1. \uc11c\ub860 3D \uc7ac\uad6c\uc131 \uae30\uc220\uc740 \ucef4\ud4e8\ud130 \ube44\uc804 \ubc0f \ucef4\ud4e8\ud130 \uadf8\ub798\ud53d \ubd84\uc57c\uc5d0\uc11c \uc911\uc694\ud55c \uc5ed\ud560\uc744 \ud569\ub2c8\ub2e4. \ud2b9\ud788, \uc810\uad70(Point Cloud)\uc740 3D \ubaa8\ub378\uc744 \uc0dd\uc131\ud558\uace0 \ubd84\uc11d\ud558\ub294 \ub370 \ud544\uc218\uc801\uc778 \ub370\uc774\ud130 \uad6c\uc870\ub85c \uc790\ub9ac\uc7a1\uace0 \uc788\uc2b5\ub2c8\ub2e4. \ubcf8 \uac15\uc88c\uc5d0\uc11c\ub294 OpenCV\ub97c \uc0ac\uc6a9\ud558\uc5ec 3D \uc7ac\uad6c\uc131\uc744 \uc704\ud574 \uc810\uad70\uc744 \uc0dd\uc131\ud558\ub294 \ubc29\ubc95\uc5d0 \ub300\ud574 \uc0c1\uc138\ud558\uac8c \uc124\uba85\ud558\uaca0\uc2b5\ub2c8\ub2e4. OpenCV\ub294 \uc774\ubbf8\uc9c0 \ubc0f \ube44\ub514\uc624 \ucc98\ub9ac\uc5d0 \uac15\ub825\ud55c \ub77c\uc774\ube0c\ub7ec\ub9ac\ub85c, \ub2e4\uc591\ud55c &hellip; <a href=\"https:\/\/atmokpo.com\/w\/38728\/\" class=\"more-link\">\ub354 \ubcf4\uae30<span class=\"screen-reader-text\"> &#8220;OpenCV \uac15\uc88c, 3D \uc7ac\uad6c\uc131\uc744 \uc704\ud55c Point Cloud \uc0dd\uc131&#8221;<\/span><\/a><\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"closed","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"_jetpack_memberships_contains_paid_content":false,"footnotes":""},"categories":[187],"tags":[],"class_list":["post-38728","post","type-post","status-publish","format-standard","hentry","category-opencv"],"yoast_head":"<!-- This site is optimized with the Yoast SEO plugin v26.2 - https:\/\/yoast.com\/wordpress\/plugins\/seo\/ -->\n<title>OpenCV \uac15\uc88c, 3D \uc7ac\uad6c\uc131\uc744 \uc704\ud55c Point Cloud \uc0dd\uc131 - \ub77c\uc774\ube0c\uc2a4\ub9c8\ud2b8<\/title>\n<meta name=\"robots\" content=\"index, follow, max-snippet:-1, max-image-preview:large, max-video-preview:-1\" \/>\n<link rel=\"canonical\" href=\"https:\/\/atmokpo.com\/w\/38728\/\" \/>\n<meta property=\"og:locale\" content=\"ko_KR\" \/>\n<meta property=\"og:type\" content=\"article\" \/>\n<meta property=\"og:title\" content=\"OpenCV \uac15\uc88c, 3D \uc7ac\uad6c\uc131\uc744 \uc704\ud55c Point Cloud \uc0dd\uc131 - \ub77c\uc774\ube0c\uc2a4\ub9c8\ud2b8\" \/>\n<meta property=\"og:description\" content=\"Author: \uc791\uc131\uc790 | Date: 2023\ub144 10\uc6d4 15\uc77c 1. \uc11c\ub860 3D \uc7ac\uad6c\uc131 \uae30\uc220\uc740 \ucef4\ud4e8\ud130 \ube44\uc804 \ubc0f \ucef4\ud4e8\ud130 \uadf8\ub798\ud53d \ubd84\uc57c\uc5d0\uc11c \uc911\uc694\ud55c \uc5ed\ud560\uc744 \ud569\ub2c8\ub2e4. \ud2b9\ud788, \uc810\uad70(Point Cloud)\uc740 3D \ubaa8\ub378\uc744 \uc0dd\uc131\ud558\uace0 \ubd84\uc11d\ud558\ub294 \ub370 \ud544\uc218\uc801\uc778 \ub370\uc774\ud130 \uad6c\uc870\ub85c \uc790\ub9ac\uc7a1\uace0 \uc788\uc2b5\ub2c8\ub2e4. \ubcf8 \uac15\uc88c\uc5d0\uc11c\ub294 OpenCV\ub97c \uc0ac\uc6a9\ud558\uc5ec 3D \uc7ac\uad6c\uc131\uc744 \uc704\ud574 \uc810\uad70\uc744 \uc0dd\uc131\ud558\ub294 \ubc29\ubc95\uc5d0 \ub300\ud574 \uc0c1\uc138\ud558\uac8c \uc124\uba85\ud558\uaca0\uc2b5\ub2c8\ub2e4. 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OpenCV \uc18c\uac1c OpenCV\ub294 2000\ub144\ub300 \ucd08\ubc18\uc5d0 \uac1c\ubc1c\ub41c \uc624\ud508\uc18c\uc2a4 \ub77c\uc774\ube0c\ub7ec\ub9ac\ub85c, \ucef4\ud4e8\ud130 \ube44\uc804 \ubc0f \uc774\ubbf8\uc9c0 \ucc98\ub9ac\uc5d0 \ud544\uc694\ud55c\u2026","rel":"","context":"&quot;OpenCV&quot;\uc5d0\uc11c","block_context":{"text":"OpenCV","link":"https:\/\/atmokpo.com\/w\/category\/opencv\/"},"img":{"alt_text":"","src":"","width":0,"height":0},"classes":[]},{"id":38784,"url":"https:\/\/atmokpo.com\/w\/38784\/","url_meta":{"origin":38728,"position":2},"title":"OpenCV \uac15\uc88c, KLT Tracker\ub85c \uac1d\uccb4 \ucd94\uc801\ud558\uae30","author":"root","date":"2024\ub144 11\uc6d4 02\uc77c","format":false,"excerpt":"\uc791\uc131\uc790: \uc870\uad11\ud615 \ub0a0\uc9dc: 2024\ub144 11\uc6d4 26\uc77c 1. \uc11c\ub860 \ucef4\ud4e8\ud130 \ube44\uc804\uc758 \ubc1c\uc804\uacfc \ud568\uaed8 \uac1d\uccb4 \ucd94\uc801\uc740 \ub9ce\uc740 \uc751\uc6a9 \ubd84\uc57c\uc5d0\uc11c \uc911\uc694\ud55c \uc5ed\ud560\uc744 \ud558\uace0 \uc788\uc2b5\ub2c8\ub2e4. \ubcf8 \uac15\uc88c\uc5d0\uc11c\ub294 OpenCV\ub97c \uc774\uc6a9\ud558\uc5ec KLT(Kanade-Lucas-Tomasi) Tracker\ub85c \uac1d\uccb4\ub97c \ucd94\uc801\ud558\ub294 \ubc29\ubc95\uc5d0 \ub300\ud558\uc5ec \ub2e4\ub8f0 \uac83\uc785\ub2c8\ub2e4. KLT \ud2b8\ub798\ucee4\ub294 \ud2b9\uc9d5 \uc810 \ud328\ud134\uc744 \uae30\ubc18\uc73c\ub85c\ud558\uc5ec, \uc601\uc0c1\uc5d0\uc11c \uc6c0\uc9c1\uc774\ub294 \uac1d\uccb4\ub97c \ucd94\uc801\ud560 \uc218 \uc788\ub3c4\ub85d \ub3c4\uc640\uc90d\ub2c8\ub2e4. 2. KLT Tracker \uae30\ubcf8\u2026","rel":"","context":"&quot;OpenCV&quot;\uc5d0\uc11c","block_context":{"text":"OpenCV","link":"https:\/\/atmokpo.com\/w\/category\/opencv\/"},"img":{"alt_text":"","src":"","width":0,"height":0},"classes":[]},{"id":38798,"url":"https:\/\/atmokpo.com\/w\/38798\/","url_meta":{"origin":38728,"position":3},"title":"OpenCV \uac15\uc88c, PyTorch \ubaa8\ub378\uc744 OpenCV\ub85c \ub85c\ub4dc\ud558\uc5ec \uc2e4\ud589\ud558\uae30","author":"root","date":"2024\ub144 11\uc6d4 02\uc77c","format":false,"excerpt":"\uc800\uc790: \uc870\uad11\ud615 \uc791\uc131\uc77c: 2024\ub144 11\uc6d4 26\uc77c 1. \uc11c\ub860 OpenCV(Open Source Computer Vision Library)\ub294 \ucef4\ud4e8\ud130 \ube44\uc804 \ubc0f \uba38\uc2e0\ub7ec\ub2dd\uc744 \uc704\ud55c \ub77c\uc774\ube0c\ub7ec\ub9ac\ub85c, \ub2e4\uc591\ud55c \uc774\ubbf8\uc9c0 \ubc0f \ube44\ub514\uc624 \ucc98\ub9ac \uae30\uc220\uc744 \uc81c\uacf5\ud569\ub2c8\ub2e4. PyTorch\ub294 \uba38\uc2e0\ub7ec\ub2dd \ub77c\uc774\ube0c\ub7ec\ub9ac\ub85c, \ud2b9\ud788 \ub525\ub7ec\ub2dd \ubaa8\ub378\uc758 \uac1c\ubc1c\uacfc \ud559\uc2b5\uc5d0 \ub9ce\uc774 \uc0ac\uc6a9\ub429\ub2c8\ub2e4. \ubcf8 \uac15\uc88c\uc5d0\uc11c\ub294 PyTorch\ub85c \ud559\uc2b5\ud55c \ubaa8\ub378\uc744 OpenCV\ub97c \ud1b5\ud574 \ub85c\ub4dc\ud558\uc5ec \uc2e4\uc2dc\uac04\uc73c\ub85c \uc2e4\ud589\ud558\ub294 \ubc29\ubc95\uc5d0 \ub300\ud574 \uc124\uba85\ud558\uaca0\uc2b5\ub2c8\ub2e4. 2.\u2026","rel":"","context":"&quot;OpenCV&quot;\uc5d0\uc11c","block_context":{"text":"OpenCV","link":"https:\/\/atmokpo.com\/w\/category\/opencv\/"},"img":{"alt_text":"","src":"","width":0,"height":0},"classes":[]},{"id":38822,"url":"https:\/\/atmokpo.com\/w\/38822\/","url_meta":{"origin":38728,"position":4},"title":"OpenCV \uac15\uc88c, \ub2e4\uc591\ud55c \uc0ac\uc804 \ud559\uc2b5 \ubaa8\ub378 \ube44\uad50 \ubc0f \ud29c\ub2dd","author":"root","date":"2024\ub144 11\uc6d4 02\uc77c","format":false,"excerpt":"\uc791\uc131\uc790: \uc870\uad11\ud615 \uc791\uc131\uc77c: [\ub0a0\uc9dc] 1. OpenCV \uc18c\uac1c OpenCV(Open Source Computer Vision Library)\ub294 \uc774\ubbf8\uc9c0 \ucc98\ub9ac\ub97c \uc704\ud55c \uc624\ud508 \uc18c\uc2a4 \ub77c\uc774\ube0c\ub7ec\ub9ac\ub85c, \uc2e4\uc2dc\uac04 \ucef4\ud4e8\ud130 \ube44\uc804 \uc751\uc6a9 \ud504\ub85c\uadf8\ub7a8\uc758 \uac1c\ubc1c\uc744 \uc9c0\uc6d0\ud569\ub2c8\ub2e4. C++, Python, Java \ub4f1 \ub2e4\uc591\ud55c \uc5b8\uc5b4\ub85c \uc0ac\uc6a9\ud560 \uc218 \uc788\uc73c\uba70, \uc774 \uae00\uc5d0\uc11c\ub294 \uc8fc\ub85c Python\uacfc \ud568\uaed8 OpenCV\ub97c \ud65c\uc6a9\ud55c \ub2e4\uc591\ud55c \uc0ac\uc804 \ud559\uc2b5 \ubaa8\ub378\uc744 \ube44\uad50\ud558\uace0 \ud29c\ub2dd\ud558\ub294 \ubc29\ubc95\uc744 \ub2e4\ub8e8\uaca0\uc2b5\ub2c8\ub2e4. 2.\u2026","rel":"","context":"&quot;OpenCV&quot;\uc5d0\uc11c","block_context":{"text":"OpenCV","link":"https:\/\/atmokpo.com\/w\/category\/opencv\/"},"img":{"alt_text":"","src":"","width":0,"height":0},"classes":[]},{"id":38915,"url":"https:\/\/atmokpo.com\/w\/38915\/","url_meta":{"origin":38728,"position":5},"title":"YOLO\ub97c \uc774\uc6a9\ud55c \uc2e4\uc2dc\uac04 \uac1d\uccb4 \uac80\ucd9c \uc560\ud50c\ub9ac\ucf00\uc774\uc158 \uad6c\ucd95, YOLO\ub97c OpenCV\uc640 \uc5f0\ub3d9\ud558\uc5ec \uc2e4\uc2dc\uac04 \uac1d\uccb4 \uac80\ucd9c \uc2dc\uc2a4\ud15c \ub9cc\ub4e4\uae30","author":"root","date":"2024\ub144 11\uc6d4 02\uc77c","format":false,"excerpt":"\ubcf8 \uae00\uc5d0\uc11c\ub294 YOLO(You Only Look Once) \uc54c\uace0\ub9ac\uc998\uc744 \uc0ac\uc6a9\ud558\uc5ec \uc2e4\uc2dc\uac04 \uac1d\uccb4 \uac80\ucd9c \uc560\ud50c\ub9ac\ucf00\uc774\uc158\uc744 \uad6c\ucd95\ud558\ub294 \ubc29\ubc95\uc744 \uc124\uba85\ud569\ub2c8\ub2e4. YOLO\ub294 \uace0\uc18d\uc73c\ub85c \uac1d\uccb4\ub97c \ud0d0\uc9c0\ud560 \uc218 \uc788\ub294 \uc54c\uace0\ub9ac\uc998\uc73c\ub85c, \ub2e4\uc591\ud55c \ubd84\uc57c\uc5d0\uc11c \ud65c\uc6a9\ub418\uace0 \uc788\uc2b5\ub2c8\ub2e4. OpenCV\uc640 \ud568\uaed8 YOLO\ub97c \uc0ac\uc6a9\ud558\uc5ec \uc6f9\ucea0\uc5d0\uc11c \uc2e4\uc2dc\uac04\uc73c\ub85c \uac1d\uccb4\ub97c \uac80\ucd9c\ud558\ub294 \uc2dc\uc2a4\ud15c\uc744 \ub9cc\ub4dc\ub294 \uacfc\uc815\uc744 \uc790\uc138\ud788 \uc124\uba85\ud558\uaca0\uc2b5\ub2c8\ub2e4. 1. YOLO\ub780? 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