Can I directly access(import) 3D point ID which exist in both train image and query image.(image pair)

[kmy8800]

Hi,

I'm trying to obtain 6D of camera using PnP algorithm.

Can I directly access(import) 3D point ID which is in both train image and query image(image pair)?

I run code kapture_compute_matches.py -v info -i ./tutorial/mapping_query --pairsfile-path ./tutorial/query_pairs.txt, and I got matches kapture dataformat. Does it contain data about 3D point ID??

+++another question
In cameras.txt, does PARAMS[] means fx fy cx cy?

I'm sorry to bother you...

[jujumo]

Hi, I am not sure to fully understand your request.

1. Concerning 2D-matches,
   matches are linked to 2-D key-points, not 3-D.
   The correspondence between 2-D keypoints and 3-D reconstructed points is given by observations.txt.
   You will find details here: https://github.com/naver/kapture/blob/master/kapture_format.adoc#observations-txt

2. Cameras
   Indeed, in cameras.txt, PARAMS[] usually means f and cx cy. But the exact list depends of the camera model (Radial, pinhole, ...). You will find all the details here : https://github.com/naver/kapture/blob/master/kapture_format.adoc#camera--depth

I hope it helped.
Regards,
Julien

[humenbergerm]

Hi!

I close this issue due to inactivity. If there are more questions, please ask.

Best,
Martin