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Questions tagged [pose-estimation]

The specific task of determining the position and orientation of an object in an image relative to the camera coordinates is called Pose Estimation.

The pose of a camera is also known as the camera Extrinsic Parameters. It is a 3x4 matrix where the first 3 columns are the rotation (orientation) and the las column is the translation (position).

Camera Pose matrix. Rotation and Translation

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Computing x,y coordinate (3D) from image point

I have a task to locate an object in 3D coordinate system. Since I have to get almost exact X and Y coordinate, I decided to track one color marker with known Z coordinate that will be placed on the top of the moving object, like the orange ball in…
Banana
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Camera position in world coordinate from cv::solvePnP

I have a calibrated camera (intrinsic matrix and distortion coefficients) and I want to know the camera position knowing some 3d points and their corresponding points in the image (2d points). I know that cv::solvePnP could help me, and after…
nkint
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Get 3D coordinates from 2D image pixel if extrinsic and intrinsic parameters are known

I am doing camera calibration from tsai algo. I got intrensic and extrinsic matrix, but how can I reconstruct the 3D coordinates from that inormation? 1) I can use Gaussian Elimination for find X,Y,Z,W and then points will be X/W , Y/W , Z/W as…
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Can you use OpenCV solvePNP with a equirectangular image?

Is it possible to use OpenCV's solvePNP with an equirectangular image? I have an equirectangular image and I have four points in this image (red dots) and their pixel coordinates, and then I have 4 corresponding world points e.g. [(0, 0, 0), (2, 0,…
nickponline
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Camera pose estimation (OpenCV PnP)

I am trying to get a global pose estimate from an image of four fiducials with known global positions using my webcam. I have checked many stackexchange questions and a few papers and I cannot seem to get a a correct solution. The position numbers I…
Gouda
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solvePNP vs recoverPose by rotation composition: why translations are not same?

Part 1: Before update I am trying to estimate relative position using two different methods: solvePNP and recoverPose, and seems like R matrices are looks OK with respect to some error, but translation vectors are totally different. What am I…
stackoverflower
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How to determine world coordinates of a camera?

I have a rectangular target of known dimensions and location on a wall, and a mobile camera on a robot. As the robot is driving around the room, I need to locate the target and compute the location of the camera and its pose. As a further twist, the…
BCat
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How to understand head pose estimation angles in Python with OpenCV?

I am working through a Python and OpenCV head pose estimation tutorial found here: https://www.learnopencv.com/head-pose-estimation-using-opencv-and-dlib/ I am able to accurately project a 3D point onto the 2D image. However, I am unable to…
Chris Unice
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Homography of soccer field

Okay so i am trying to find homography of a soccer match. What i have till now is Read images from a folder which is basically many cropped images of a template soccer field. Basically this has images for center circle and penalty lines etc. Read…
georoot
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Average and Measure of Spread of 3D Rotations

I've seen several similar questions, and have some ideas of what I might try, but I don't remember seeing anything about spread. So: I am working on a measurement system, ultimately computer vision based. I take N captures, and process them using…
ikrase
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How can I estimate the camera pose with 3d-to-2d-point-correspondences (using opencv)

Hello my goal is to develop head-tracking functionality to be used in an aircraft (simulator) cockpit, in order to provide AR to suport civilian pilots to land and fly with bad visual conditions. My approach is to detect characteristic points (in…
Jakob Alexander Eichler
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Is the recoverPose() function in OpenCV is left-handed?

I run simple test for OpenCV camera pose estimation. Having a photo and the same photo scaled up (zoomed in) I use them to detect features, calculate essential matrix and recover camera poses. Mat inliers; Mat E = findEssentialMat(queryPoints,…
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rotate face from non-front to front opencv

I've struggled for a week with a problem that I can't rotate a face from non-front like the Left Face in this image to front like the Right Face in the same image. 1). I use a tutorial about delaunay at learnopencv website to get all the triangle…
Rain Maker
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Sampson error for five point essential matrix estimation

I used the 5 point Method from Nister to calculate the Essential matrix . Further improved Outlier Rejection using RANSAC and Sampson Error Threshold. I randomly choose 5 point sets, estimate the essential matrix and evaluate the Sampson error for…
Didon
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How to find Camera matrix for Augmented Reality?

I want to augment a virtual object at x,y,z meters wrt camera. OpenCV has camera calibration functions but I don't understand how exactly I can give coordinates in meters I tried simulating a Camera in Unity but don't get expected result. I set the…
Sumeet Jindal
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