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sfm::RansacPoseP3P Class Reference

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
 

Detailed Description

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.

Constructor & Destructor Documentation

◆ RansacPoseP3P()

sfm::RansacPoseP3P::RansacPoseP3P ( Options const &  options)
explicit

Definition at line 21 of file ransac_pose_p3p.cc.

Member Function Documentation

◆ estimate()

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.


The documentation for this class was generated from the following files: