About This Module

The pose estimation module estimates the position of a camera given detected features. All functionalities run synchronously on CPU.

Perspective-n-Points pose estimator

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.

The PnP pose estimator requires a few things before it can estimate the pose:

The world 3D structure must be known
Feature points must be detected in the image and matched to 3D points
The 2D feature points must be undistorted to get the optical rays (see dwCameraModel_pixel2Ray)

This will result in two matched vectors of worldPoints and rays. The function dwPnP_solve can then estimate the camera pose.

Relevant Tutorials

Pose estimation

APIs

PnP Interface