Pose Estimation

[G-Flavio]

Hi @puzzlepaint

Given a generic target geometry, corresponding pixels, and calibration parameters, is there a function or guidelines to perform poses estimations?

Thanks for sharing this great work

[puzzlepaint]

Hi, the library I personally use for that is OpenGV (see the "absolute pose problems" in how to use). It works on observation directions / lines instead of detected pixel locations, which can be computed from the pixel locations using the camera calibration. This makes the problem independent of the camera model (apart from whether it is a central or non-central model). It also means that the pose optimization errors will be minimized as angle differences instead of pixel differences; I'd guess that this doesn't really matter in practice though.