Pose estimation
Hello, My goal is to find camera position with removing the scale drift to obtain trajectory. For that camera pointed down-ward, but not directly at the ground surface from that i captured images with t and t+1 time . After that i am find feature point using FAST algorithm and track that point using optical flow. So I have now two sets of 2D feature point(image point). Then to find depth for remove scale drift i used below link.
( http://fsr.utias.utoronto.ca/submissi... )
from that i find 3D coordinate (x, y, z) w.r.t camera coordinate.
Now my question is after getting 2D(image point) and their corresponding 3D(object point) can i find camera pose(R and t) using OpenCV function solvePnPRansac()? But my understanding solvePnPRansac() gives object pose, its not giving camera pose. I am confused. I want pose between two frames Is there any solution or function for 2D points and their corresponding 3D points i can get camera pose or from 3D to 3D how can i get pose? sorry for my bad English and thank you in advance!
Check out the
cv2.decomposeProjectionMatrix()function to inverse the projection matrix.You can also used the rotation matrix from
cv2.Rodrigues():rmat = cv2.Rodrigues(rvec)[0]Then, camera position expressed in world coordinates is given by:
cam_pos = -np.matrix(rmat).T * np.matrix(tvec)