PoSDK for Spatial Visual Computing

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Our Vision

PoSDK is designed for Spatial Visual Computing applications including camera pose estimation, feature point cloud generation, and advanced 3D reconstruction workflows. Built on innovative Pose-only Imaging Geometry theory, PoSDK provides efficient and robust solutions for lightweight, embedded vision computing applications such as robotic navigation, spatial computing, and mixed reality systems.

Key Features

• Pose-only Imaging Geometry Theory: An approach that decouples pose estimation from 3D scene reconstruction, eliminating high-dimensional joint optimization
• Modular Plugin System: Flexible DataPtr/MethodPtr architecture for seamless algorithm integration and extension
• High-Performance Engine: Built-in performance profiler with real-time memory, CPU, and timing monitoring
• Automatic Evaluation System: Comprehensive accuracy evaluator with statistical analysis and CSV export capabilities
• Copyright Tracking System: Automated intellectual property protection with dependency tracking and compliance management
• Cross-platform Support: Native support for macOS (x86_64/arm64) and Linux (x86_64/aarch64)
• Platform Integration: Seamless integration and benchmarking with OpenMVG, COLMAP, GLOMAP, and other mainstream 3D reconstruction platforms

Architecture Overview

PoSDK employs a comprehensive architecture design that integrates multiple components from data preprocessing to core computation engine:

The architecture demonstrates the complete workflow from input processing through various specialized modules to final platform integration:

• Input Layer: Dynamic input processing and cross-platform integration capabilities
• Processing Modules: Image feature extraction, copyright tracking, and advanced 3D techniques (3DGS/NeRF)
• SDK Framework: Comprehensive development framework for user applications
• Core Engine: PoCore engine powered by pose-only imaging geometry algorithms
• Output Integration: Seamless integration with platforms, SDK distribution, and core services

Quick Documentation Links

Online Documentation

• Complete Documentation - Official documentation on ReadTheDocs
• Source Documentation - Documentation source files in GitHub

Quick Access

• User Guide - Complete introduction and feature overview
• Installation Guide - Step-by-step setup instructions
• Quick Start - Get running in minutes with precompiled binaries
• Plugin Development - Create custom algorithms and extensions
• Benchmark Results - Performance comparison with mainstream platforms
• Copyright Tracking - Automated IP protection system

Collaboration Note: This project now supports collaborative documentation editing! Contributors can directly edit Markdown files in docs/source/ and submit PRs for documentation improvements.

Local Documentation Build

# One-click setup: Install environment + Build documentation
cd docs && ./install_docs.sh

# View the built documentation:
# English: build/html/index.html
# Chinese: build_zh/html/index.html

Quick Start

Prerequisites

• CMake 3.28+
• C++17 compatible compiler
• Git

Installation

# 1. Clone repository
git clone https://github.com/pose-only-vision/PoSDK.git
cd PoSDK

# 2. One-click installation (supports resume on timeout)
./install.sh

Features:

• Resume Installation - Re-run ./install.sh if network timeouts occur
• Automated Setup - Downloads dependencies, builds PoSDK, and prepares test data For Poor Network Conditions: If automatic download fails, manually download from GitHub Releases and copy files directly (no extraction needed):
• po_core + PoSDK dependencies → ./dependencies/
• PoSDK_test_data → ./tests/

Then run ./install.sh to complete setup.

Usage

# Build PoSDK (if not done during installation)
mkdir build && cd build
cmake ..
make -j$(nproc)

# Run PoSDK from build directory
./output/bin/PoSDK

Output Results

PoSDK generates comprehensive results in the working directory:

Directory Structure

• globalsfm_pipeline_work/ - Main working directory (configured in globalsfm_pipeline.ini)
• [dataset_name]/ - Individual dataset results with 3D reconstruction and MeshLab outputs
• summary/ - Performance analysis and evaluation reports

Summary Reports

Report File	Description
profiler_performance_summary.csv	Performance Metrics - CPU, memory usage, and execution timing
summary_GlobalPoses_rotation_error_deg_ALL_STATS.csv	Global Rotation Accuracy - Statistical analysis of rotation estimation errors
summary_GlobalPoses_translation_error_ALL_STATS.csv	Global Translation Accuracy - Statistical analysis of translation estimation errors
summary_RelativePoses_rotation_error_deg_ALL_STATS.csv	Relative Rotation Accuracy - Pairwise rotation error statistics
summary_RelativePoses_translation_error_deg_ALL_STATS.csv	Relative Translation Accuracy - Pairwise translation error statistics

Why Pose-only Imaging Geometry?

Traditional computer vision methods often face challenges when dealing with large-scale scenes:

• Curse of dimensionality in high-dimensional optimization
• Computational inefficiency in joint pose-structure estimation
• Robustness issues in complex scenarios

Pose-only Imaging Geometry offers a paradigm shift by:

• Lossless representation of high-dimensional 3D scenes on low-dimensional pose manifolds
• Complete decoupling of camera pose estimation and 3D scene reconstruction
• Enhanced robustness without ultra-high-dimensional joint optimization

Platform Integration & Benchmarking

PoSDK provides comprehensive comparison with mainstream 3D reconstruction platforms:

Platform	Focus	Integration Status
OpenMVG	Classic Multi-View Geometry	Fully Integrated
COLMAP	Industry-leading SfM/MVS	Fully Integrated
GLOMAP	Global Optimization SfM	Fully Integrated
PoSDK	Pose-only Geometry	Native Implementation

View Detailed Benchmark Results →

Research Foundation

PoSDK is built on peer-reviewed research in pose-only imaging geometry:

Key Publications

@article{cai2019equivalent,
  title={Equivalent Constraints for Two-View Geometry: Pose Solution/Pure Rotation Identification and 3D Reconstruction},
  journal={International Journal of Computer Vision},
  volume={127}, pages={163--180}, year={2019},
  doi={10.1007/s11263-018-1136-9}
}

@article{cai2023pose,
  title={A Pose-only Solution to Visual Reconstruction and Navigation},
  journal={IEEE Transactions on Pattern Analysis and Machine Intelligence},
  volume={45}, number={1}, pages={73--86}, year={2023},
  doi={10.1109/TPAMI.2021.3139681}
}

@article{cai2024linear,
  title={Linear Relative Pose Estimation Founded on Pose-only Imaging Geometry},
  journal={arXiv preprint arXiv:2401.13357},
  year={2024}
}

Supported Platforms

Platform	Architecture	Status
macOS	arm64 (Apple Silicon)	Fully Supported
Ubuntu 24.04	x86_64	Fully Supported
Ubuntu 24.04	aarch64	Fully Supported

License Compliance

If you identify any open-source license compliance issues with PoSDK, please notify us immediately through GitHub Issues. We are committed to maintaining compliance with all open-source licenses and will address any concerns promptly.

Community & Support

• Documentation: ReadTheDocs
• Issues: GitHub Issues
• Discussions: GitHub Discussions

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Version: v1.0.0 | Architecture: Single Repository | Last Updated: 2025-01-16