- Original is http://users.ics.forth.gr/~lourakis/posest/. Will try to keep this updated.
- Included levmar (http://users.ics.forth.gr/~lourakis/levmar/) dependency.
- Included history taken from https://github.com/imbinwang/posest
- CMakeLists.txt slightly refactored.
- Still warnings from <math.h> sincos() function (see
compiler.h) - See the original README.txt
apt -y install liblapack-dev libblas-dev libf2c2-dev
$ head 32D.txt
8.1878000e-02 -1.1523000e-01 2.1624960e+00 7.3585876e+02 3.5842645e+02
4.5190000e-02 8.9986000e-02 2.1821140e+00 5.5576343e+02 5.5143250e+02
-1.1566500e-01 -1.5556100e-01 2.0953220e+00 6.0760284e+02 1.2843721e+02
-4.3963000e-02 -2.1449400e-01 2.1593870e+00 7.5831317e+02 1.5376729e+02
6.0513000e-02 1.4315800e-01 2.2882420e+00 6.2063843e+02 6.6775958e+02
1.8366000e-02 -1.4135400e-01 2.0753480e+00 6.3892877e+02 2.2926468e+02
6.7479000e-02 -1.1182500e-01 2.1084750e+00 6.7085785e+02 3.2204453e+02
-1.0169000e-02 -1.8204900e-01 2.1258330e+00 7.1237640e+02 1.9444815e+02
6.2386000e-02 -1.5903000e-02 2.1521210e+00 6.2569055e+02 4.4308145e+02
4.0083000e-02 -2.6163000e-02 2.0726150e+00 5.4278918e+02 3.7011740e+02
... (891 lines)
$ cat K.txt
2980 0 600
0.0 3000 450
0.0 0.0 1.0
$ ./posest_demo K.txt 32D.txt
Camera pose estimation using 891 image matches
PnP pose: -0.0534043 0.954171 0.785192 -1.54126 -0.825812 0.852895
Refinement using 1432 measurements, 6 variables
LM returned 8 in 8 iter, reason 2, error 0.684658 [initial 0.822646], 8/8 func/fjac evals
Estimated motion ([rv t]) [175 outliers, 19.64%]
-0.05213811 0.9536027 0.7843842 -1.54212 -0.8226161 0.8482345
Elapsed time: 0.01 seconds, 6.84 msecs
Camera projection center: 1.62 -0.60 0.89
Reprojection RMS and RMedS errors for input points: 110.165 0.559429
25%, 50% and 75% quartiles: 0.308074 0.559429 1.59854
All the credit to the author, Manolis Lourakis.