cvcore::vision3d Namespace Reference

Data Structures
struct	PoseHypothesis
	A struct to describe the Pose hypothesis returned by RANSAC-based pose estimation. More...

Functions
uint32_t	EvaluateRansacFormula (const float successRate, const float outlierRatio, const uint32_t sampleSize)
	A function to calculate the number of RANSAC rounds necessary to sample at least a single uncontaminated sample set with a certain success rate given the expected ratio of outliers. More...
Pose3d	ComputeCameraPoseEpnp (const Array< Vector3d > &points3, const Array< Vector2d > &points2, const Vector2d focal, const Vector2d principal)
	A function to compute the pose of a camera give the camera instrinsics and at least 6 2D-3D point correspondences without outliers. More...
std::vector< PoseHypothesis >	ComputeCameraPoseEpnpRansac (const Array< Vector3d > &points3, const Array< Vector2d > &points2, const Vector2d focal, const Vector2d principal, const uint32_t numExperiments, const double ransacThreshold, const uint32_t maxTopPoses, const uint32_t seed)
	A function to compute the pose of a pinhole camera from at least 6 2D-3D point correspondences with outliers using RANSAC. More...
Pose3d	ComputeCameraPoseIterativePnp (const Array< Vector3d > &points3, const Array< Vector2d > &points2, const Vector2d focal, const Vector2d principal, const Pose3d &initialGuess, size_t iterations=5)
	A function to compute the pose of a camera give the camera instrinsics iteratively. More...

Function Documentation

ComputeCameraPoseEpnp()

Pose3d cvcore::vision3d::ComputeCameraPoseEpnp	(	const Array< Vector3d > &	points3,
		const Array< Vector2d > &	points2,
		const Vector2d	focal,
		const Vector2d	principal
	)

A function to compute the pose of a camera give the camera instrinsics and at least 6 2D-3D point correspondences without outliers.

Assumptions No lens distortions, you need to un-distort points in advance. Using Right handed coordinate system.

Parameters

points3	Array of 3d world coordinates
points2	Array of 2d projection points in pixels.
focal	Focal length in horizontal axis and vertical axis in pixel units.
principal	Principal point / image center in x axis and y axis.

Returns

camera pose: rigid transformation that maps 3D points from the world frame into the camera frame.

ComputeCameraPoseEpnpRansac()

std::vector<PoseHypothesis> cvcore::vision3d::ComputeCameraPoseEpnpRansac	(	const Array< Vector3d > &	points3,
		const Array< Vector2d > &	points2,
		const Vector2d	focal,
		const Vector2d	principal,
		const uint32_t	numExperiments,
		const double	ransacThreshold,
		const uint32_t	maxTopPoses,
		const uint32_t	seed
	)

A function to compute the pose of a pinhole camera from at least 6 2D-3D point correspondences with outliers using RANSAC.

Parameters

points3	Array of 3d world coordinates
points2	Array of 2d projection points in pixels.
focal	Focal length in horizontal axis and vertical axis in pixel units.
principal	Principal point / image center in x axis and y axis.
numExperiments	Number of RANSAC iterations or experiments to run.
ransacThreshold	RANSAC threshold in terms of reprojection error in pixels.
maxTopPoses	Maximum number of pose hypotheses to return.
seed	Integer seed for random number generation.

Returns

Returns the most top-K pose hypotheses in decreasing order of score. Each pose hypothesis has min 6 inliers and is a rigid transformation mapping 3D points from world to camera frame.

ComputeCameraPoseIterativePnp()

Pose3d cvcore::vision3d::ComputeCameraPoseIterativePnp	(	const Array< Vector3d > &	points3,
		const Array< Vector2d > &	points2,
		const Vector2d	focal,
		const Vector2d	principal,
		const Pose3d &	initialGuess,
		size_t	iterations = 5
	)

A function to compute the pose of a camera give the camera instrinsics iteratively.

Assumptions No lens distortions, you need to un-distort points in advance. Using Right handed coordinate system.

Parameters

points3	Array of 3d world coordinates
points2	Array of 2d projection points in pixels.
focal	Focal length in horizontal axis and vertical axis in pixel units.
principal	Principal point / image center in x axis and y axis.
initialGuess	Inital condition for the Iterative solver.
iterations	Iterations of Iterative solver.

Returns

camera pose: rigid transformation that maps 3D points from the world frame into the camera frame.

EvaluateRansacFormula()

uint32_t cvcore::vision3d::EvaluateRansacFormula	(	const float	successRate,
		const float	outlierRatio,
		const uint32_t	sampleSize
	)

A function to calculate the number of RANSAC rounds necessary to sample at least a single uncontaminated sample set with a certain success rate given the expected ratio of outliers.

Parameters

successRate	: Required probability in the range (0,0.9999] of finding the solution. As success_rate tends to 1.0, the number of experiments tends to Inf.
outlierRatio	: Maximum expected ratio of outliers in the open interval [0,0.9].
sampleSize	: The minimum number of samples necessary to fit the model (at least 1).

Returns

Returns the number of experiments (RANSAC iterations) from the formula.