MVE - Multi-View Environment mve-devel
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RANSAC pose estimation from 2D-3D correspondences and known camera calibration using the perspective 3-point (P3P) algorithm. More...
#include <ransac_pose_p3p.h>
Classes | |
struct | Options |
struct | Result |
Public Member Functions | |
RansacPoseP3P (Options const &options) | |
void | estimate (Correspondences2D3D const &corresp, math::Matrix< double, 3, 3 > const &k_matrix, Result *result) const |
RANSAC pose estimation from 2D-3D correspondences and known camera calibration using the perspective 3-point (P3P) algorithm.
The rotation and translation of a camera is determined from a set of 2D image to 3D point correspondences contaminated with outliers. The algorithm iteratively selects 3 random correspondences and returns the result which led to the most inliers.
The input 2D image coordinates, the input K-matrix and the threshold in the options must be consistent. For example, if the 2D image coordinates are NOT normalized but in pixel coordinates, the K-matrix must be in pixel coordinates and the threshold must be in pixel, too. For this algorithm, image coordinates do not need to be normalized for stability.
Definition at line 37 of file ransac_pose_p3p.h.
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explicit |
Definition at line 21 of file ransac_pose_p3p.cc.
void sfm::RansacPoseP3P::estimate | ( | Correspondences2D3D const & | corresp, |
math::Matrix< double, 3, 3 > const & | k_matrix, | ||
Result * | result | ||
) | const |
Definition at line 27 of file ransac_pose_p3p.cc.