1 # Copyright (c) 2019-2020, NVIDIA CORPORATION. All rights reserved.
3 @page imageprocessing_geometry_pose_mainsection Pose estimation
5 @note SW Release Applicability: This module is available in both **NVIDIA DriveWorks** and **NVIDIA DRIVE Software** releases.
9 The pose estimation module estimates the position of a camera given detected features. All functionalities run synchronously on CPU.
11 ### Perspective-n-Points pose estimator
13 If know the structure of the 3D world, points observed in the image (2D) can be matched with world points (3D). The problem of estimating the pose of the camera given these 2D-3D correspondences is known as the Perspective-n-Points (PnP) problem. The `dwPnPObject` solves this problem through RANSAC and non-linear optimization.
15 The PnP pose estimator requires a few things before it can estimate the pose:
16 - The world 3D structure must be known
17 - Feature points must be detected in the image and matched to 3D points
18 - The 2D feature points must be undistorted to get the optical rays (see `dwCameraModel_pixel2Ray`)
20 This will result in two matched vectors of `worldPoints` and `rays`. The function `dwPnP_solve` can then estimate the camera pose.
24 - @ref imageprocessing_geometry_pose_usecase1