Estimate camera pose from 3-D to 2-D point correspondences
[
returns
the orientation and location of a calibrated camera in a world coordinate
system. The input worldOrientation
,worldLocation
]
= estimateWorldCameraPose(imagePoints
,worldPoints
,cameraParams
)worldPoints
must be defined
in the world coordinate system.
This function solves the perspective-n-point (PnP) problem using the perspective-three-point (P3P) algorithm [1]. The function also eliminates spurious correspondences using the M-estimator sample consensus (MSAC) algorithm.
[___,
returns
the indices of the inliers used to compute the camera pose, in addition
to the arguments from the previous syntax.inlierIdx
] =
estimateWorldCameraPose(imagePoints
,worldPoints
,cameraParams
)
[___,
additionally
returns a status code to indicate whether there were enough points.status
] = estimateWorldCameraPose(imagePoints
,worldPoints
,cameraParams
)
[___] = estimateWorldCameraPose(___,
uses
additional options specified by one or more Name,Value
)Name,Value
pair
arguments, using any of the preceding syntaxes.
[1] Gao, X.-S., X.-R. Hou, J. Tang, and H.F. Cheng. “Complete Solution Classification for the Perspective-Three-Point Problem.” IEEE Transactions on Pattern Analysis and Machine Intelligence. Volume 25,Issue 8, pp. 930–943, August 2003.
[2] Torr, P. H. S., and A. Zisserman. “MLESAC: A New Robust Estimator with Application to Estimating Image Geometry.” Computer Vision and Image Understanding. Volume 78, Issue 1, April 2000, pp. 138-156.
bundleAdjustment
| cameraPoseToExtrinsics
| extrinsics
| extrinsicsToCameraPose
| pcshow
| plotCamera
| pointsToWorld
| relativeCameraPose
| triangulateMultiview
| viewSet
| worldToImage