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PoseLib / PoseLib

Minimal solvers for calibrated camera pose estimation
BSD 3-Clause "New" or "Revised" License
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obtain estimated focal length from robust estimator pose/info #119

Open mich2k opened 4 days ago

mich2k commented 4 days ago

Hello!

Pretty much what the title said, how can i get the estimated focal length from a CameraPose struct when enabling https://arxiv.org/abs/2311.16304 ?

plus: is there a way to estimate focal length with a robust estimator for a single camera absolute pose with this library? Or the only viable solution atm is p4pf?

If it matters i'm on pybind

Thank you!

kocurvik commented 2 days ago

The CameraPose struct does not provide any information on focal lengths. If you have two images with 2d-2d correspondences and want to get focal lenghts you should 1) If you have two different cameras - run estimate_fundamental -> focals_from_fundamental_iterative for our method or focals_from_fundamental for the Bougnoux formula 2) If you have the same cameras you should use estimate_shared_focal_relative_pose

In case you have some 2d-3d correspondences then you should use the p4pf solver. You should check out the dev branch it is still in development, but you may find some code there for bundle adjustment for this problem using different cameras.