PnP位姿估计matlab工具包

%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% % This toolbox illustrates how to use the REPPnP and EPPnP % algorithms described in: % % Luis Ferraz, Xavier Binefa, Francesc Moreno-Noguer. % Very Fast Solution to the PnP Problem with Algebraic Outlier Rejection. % In Proceedings of CVPR, 2014. % % Copyright (C) <2014> <Luis Ferraz, Xavier Binefa, Francesc Moreno-Noguer> % % This program is free software: you can redistribute it and/or modify % it under the terms of the version 3 of the GNU General Public License % as published by the Free Software Foundation. % % This program is distributed in the hope that it will be useful, but % WITHOUT ANY WARRANTY; without even the implied warranty of % MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU % General Public License for more details. % You should have received a copy of the GNU General Public License % along with this program. If not, see <http://www.gnu.org/licenses/>. % % Luis Ferraz, CMTech-UPF, June 2014. % luisferrazc@gmail.com,http://cmtech.upf.edu/user/62 % %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% % % How to initialize: % - enter inside the 'PnP_Toolbox' folder % - run IniToolbox.m procedure % %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% % % Scripts to reproduce the synthetic experiment results: % main_ordinary_3d: Corresponding to Fig.3(a) Top. % main_planar: Corresponding to Fig.3(b) Top. % main_ordinary_3d_sigma: Corresponding to Fig.3(a) Down. % main_planar_sigma: Corresponding to Fig.3(b) Down. % main_ordinary_3d_time: Corresponding to Fig.4 Left. % main_ordinary_3d_outliers: Corresponding to Fig.5 Down. % main_ordinary_3d_outliers_ransac: Corresponding to Fig.6 Top, and Fig.4 Right. % main_planar_outliers_ransac: Corresponding to Fig.6 Down. % plotEffectOutliersKernel: Corresponding to Fig.5 Top. % % % Scripts to reproduce the expriments with real images: % demo_box_with_outliers_ransac: Corresponding to Fig.7 Top % % %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% % %Acknowledgements %This toolbox is based on the toolbox provided in: % %Y. Zheng, Y. Kuang, S. Sugimoto, K. Astro ?m, and M. Oku- %tomi. Revisiting the pnp problem: A fast, general and opti- %mal solution. In ICCV, pages 4321?4328, 2013. % %Y. Zheng, S. Sugimoto, and M. Okutomi. Aspnp: An accu- %rate and scalable solution to the perspective-n-point problem. %Trans. on Information and Systems, 96(7):1525?1535, 2013. %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%