blue-stone-j / pnp

PnP, EPnP

pnp

A collection of tools for solving the Perspective-n-Point (PnP) problem in compute vision.

compile and run

# get into folder
cd source_folder
# generate empty folder to store compilation file
mkdir -p build
# compile configuration
cmake ..
# compile
make
# run
./epnp

BA

Bundle Adjustment. A non-linear solution.

p3p

Calculate pose of camera by 3 pairs of 2D pixel and 3D coordinate.

借鉴

1. source code
2. reference

流程

1. 根据3D坐标和相似三角形计算点的深度
2. 根据点的深度求出对应的2D点在当前相机坐标系下的3D坐标
3. 根据世界坐标系下的3D坐标和当前相机坐标系下的3D坐标求解相机位姿

参考

1. 关于雅可比算法计算特征值和特征向量的部分，参考说明
2. 吴消元法的计算，

epnp

source code: opencv

reference

Detailed note

paper

<EPnP: An Accurate O(n) Solution to the PnP Problem> 2009

You can find it here.

PnPRANAAC