%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% 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.
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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PnP位姿估计matlab工具包
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共603个文件
m:259个
c:67个
mexglx:41个
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温馨提示
最新的位姿估计工具箱,对应文献为:Very Fast Solution to the PnP Problem with Algebraic Outlier Rejection。PnP问题是计算机视觉中非常基础的经典问题,可以用来测量目标的三维位置姿态。
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