TriangulatePoints with known object?

asked 2017-11-12 09:49:29 -0500

Hey!

I have a calibrated stereo setup (using the IR and RGB Camera from a older Primesense) and would like to localize a pattern. In the monocular case, solvePNP would do the job, but I did not find a similar approach for the stereo setup. I'm currently using triangulatePoints which gives me 3D coordinates of all my features in the pattern, but these points are computed individually so that the are not on the same plane. I found no way to model the constraint that the relative Pose of all these points is fixed.

Did I just miss a function?

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