How to compute camera pose without any feature points #4
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Hi, In the paper "Robust SfM with Little Image Overlap", the subject is the global pose estimation from relative pose estimation. In fact, you will need feature points to compute the relative pose between each consecutive pairs of cameras (CALIBRATION part) but not for global pose estimation (RECONSTRUCTION part). About the trifocal method, it is not available in this code. However, you could either find somebody that already implemented this part or implement it yourself. Best, Yohann |
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Thanks for your detailed explanation. |
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Hi, About openMVG, I think that the official version should work (just to be sure: https://github.com/openMVG/openMVG). However if you have any issue (regarding openMVG code) you can ask it on Github, Pierre is pretty responsive and I don't think I'll be able to help you. Also, if you're not familiar with openMVG and you already have a working code for point detection & matching, you can also plug it into this code. However I had noticed that opencv code was less performant than openMVG regarding point detection & matching. Best, Yohann |
Hi,
From the paper "Robust SfM with Little Image Overlap", you have said,
"Our approach thus leverages on lines for pose estimation and reconstruction, although it also exploits points when available."
I'd like to know how to compute camera pose what if there are not any feature points at all.
Currently, I have trouble at the CALIBRATION stage. I find that your code must read points descriptor and points match in the main_calibration.cpp. So I have to delete these two lines. After that, I get the wrong camera pose:
1 -0 -nan
0 1 -0
nan 0 1
7.7018e-311 7.7018e-311 -1
And also, I find some thread in another closed issue, you said ,"If you want to use line only, you should use trifocal methods",
I'd like to know how to turn on the trifocal model?
Best regards,
Jin
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