Pose Estimation¶
- conics.estimate_pose(Q, r, alpha)[source]¶
Estimates the 5-D camera pose with respect to the supporting plane of a circle projection [CWW04].
- Parameters:
Q (numpy.ndarray) – \(3\times3\) symmetric matrix that defines the oblique cone given by the rays passing through the center of the camera and the circle projection.
r (float) – The radius of the projected circle.
alpha (float) – The orientation of the projected circle, in radians.
- Returns:
Eight possible solutions \((R_i,\vec t_i,\vec n_i,\vec c,s_{1,i},s_{2,i},s_{3,i},m_i)\), \(i=1,\dotsc,8\) that describe the pose of the camera observing the circle projection and its supporting plane.
- \(R_i\in\mathsf{SO}(3)\)
The camera rotation.
- \(t_i\in\mathbb{R}^3\)
The camera translation.
- \(n_i\in\mathbb{R}^3\)
The normal vector to the support plane of the circle projection.
- \(s_{1,i},s_{2,i},s_{3,i}\in\{\pm1\}\)
The signs of the possible solutions.
- \(m_i\in\{0,1\}\)
A mask that defines which solutions are valid.
- Return type: