solvePnP object pose for Omnidirectional model

asked 2018-08-13 04:10:36 -0600

ROSpioneer
41 ●3 ●8

I'm interested in pose estimation using slightly different sensors called omnidirectional camera, they are based on Unified Omnidirectional Model to project 3D points into image plane.

Opencv has a function called solvePnP to find the pose of an object using couple of 2D-3D points for standard cameras.

My question is if there is a similar function for those particular cameras? in opencv or any other library.

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answered 2019-10-10 16:59:34 -0600

tarchon
1

You could use omnidir from the contribs or fisheye. omnidir has a much better distortion model than fisheye, but it's a little buggy. They don't have explicit implementations of solvePnP but their calibration functions get pose estimates as part of the calibration solution, and I guess if you needed PnP without the distortion calibration, you could just fix the intrinsics to an initial guess.