How to estimate the real distance and angle from 2D Image?

asked 2020-06-23 08:01:35 -0500

astronaut gravatar image


I have done some 6D Pose estimation, and have the Oriented Bounding Box (OBB) of the detected object. So, now I would like to know the ground truth and get the error of the estimated orientation and the position. The detected object is a rectangular box as shown in the image. object and visualization marker The red box in the image is the object and the black one is the estimated 6DPose.

So would like to do image postprocessing to get the error of the position and the orientation. So, how can get the error from this image, knowing the real dimensions of the box, camera parameters, and the distance from the camera to the object? Should I draw lines of the box and the 6D pose marker(black box) and get the distance and the angle between two lines or?


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I have done some 6D Pose estimation

how so ? code ?

and have the Oriented Bounding Box

if that's a cv::RotatedRect, it already has an angle

berak gravatar imageberak ( 2020-06-24 05:24:15 -0500 )edit

I want to know the ground truth so I can estimate the error of the Oriented Bounding Box. The 6D Pose estimation was done using the Point Cloud Library. I know the angle of the Marker but I need to know the ground truth. Understand now?

astronaut gravatar imageastronaut ( 2020-06-24 08:19:43 -0500 )edit