This library provides a collection of minimal solvers for camera pose estimation. The focus is on calibrated absolute pose estimation problems from different types of correspondences (e.g. point-point, point-line, line-point, line-line).
The goals of this project are
- Fast and robust implementation of the current state-of-the-art solvers.
- Consistent calling interface between different solvers.
- Minimize dependencies, both external (currently only Eigen) and internal. Each solver is (mostly) stand-alone, making it easy to extract only a specific solver to integrate into other frameworks.
For the solver names we use a slightly non-standard notation where we denote the solver as
pXpYplZlpWll
where the number of correspondences required is given by
- Xp - 2D point to 3D point,
- Ypl - 2D point to 3D line,
- Zlp - 2D line to 3D point,
- Wll - 2D line to 2D line.
The prefix with u is for upright solvers and g for generalized camera solvers. Solvers that estimate focal length have the postfix with f and similarly s for solvers that estimate scale.
All solvers return their solutions as a vector of CameraPose structs, which defined as
struct CameraPose {
Eigen::Matrix3d R;
Eigen::Vector3d t;
double alpha = 1.0; // either focal length or scale
};
where [R t] maps from the world coordinate system into the camera coordinate system.
For 2D point to 3D point correspondences, the image points are represented as unit-length bearings vectors. The returned camera poses (R,t) then satisfies (for some lambda)
lambda * x[i] = R * X[i] + t
where x[i] is the 2D point and X[i] is the 3D point.
Note that only the P3P solver filters solutions with negative lambda.
Solvers that use point-to-point constraints take one vector with bearing vectors x and one vector with the corresponding 3D points X, e.g. for the P3P solver the function declaration is
int p3p(const std::vector<Eigen::Vector3d> &x,
const std::vector<Eigen::Vector3d> &X,
std::vector<CameraPose> *output);
Each solver returns the number of real solutions found.
For constraints with 2D lines, the lines are represented in homogeneous coordinates. In the case of 2D line to 3D point constraints, the returned camera poses then satisfies
l[i].transpose() * (R * X[i] + t) = 0
where l[i] is the line and X[i] is the 3D point.
For constraints with 3D lines, the lines are represented by a 3D point X and a bearing vector V. In the case of 2D point to 3D point constraints
lambda * x[i] = R * (X[i] + mu * V[i]) + t
for some values of lambda and mu. Similarly, for line to line constraints we have
l[i].transpose() * (R * (X[i] + mu * V[i]) + t) = 0
For generalized cameras we represent the image rays similarly to the 3D lines above, with an offset p and a bearing vector x. For example, in the case of point-to-point correspondences we have
p[i] + lambda * x[i] = R * X[i] + t
In the case of unknown scale we also estimate alpha such that
alpha * p[i] + lambda * x[i] = R * X[i] + t
For example, the generalized pose and scale solver (from four points) has the following signature
int gp4ps(const std::vector<Eigen::Vector3d> &p, const std::vector<Eigen::Vector3d> &x,
const std::vector<Eigen::Vector3d> &X, std::vector<CameraPose> *output);
For the upright solvers it assumed that the rotation is around the y-axis, i.e.
R = [a 0 -b; 0 1 0; b 0 a]
To use these solvers it necessary to pre-rotate the input such that this is satisfied.
The following solvers are currently implemented.
| Solver | Point-Point | Point-Line | Line-Point | Line-Line | Upright | Generalized | Approx. runtime | Max. solutions | Comment |
|---|---|---|---|---|---|---|---|---|---|
p3p |
3 | 0 | 0 | 0 | 250 ns | 4 | Persson and Nordberg, LambdaTwist (ECCV18) | ||
gp3p |
3 | 0 | 0 | 0 | ✔️ | 1.6 us | 8 | Kukelova et al., E3Q3 (CVPR16) | |
gp4ps |
4 | 0 | 0 | 0 | ✔️ | 1.8 us | 8 | Unknown scale. Kukelova et al., E3Q3 (CVPR16) Camposeco et al.(ECCV16) |
|
p4pf |
4 | 0 | 0 | 0 | 2.3 us | 8 | Unknown focal length. Kukelova et al., E3Q3 (CVPR16) |
||
p2p2pl |
2 | 2 | 0 | 0 | 30 us | 16 | Josephson et al. (CVPR07) | ||
p6lp |
0 | 0 | 6 | 0 | 1.8 us | 8 | Kukelova et al., E3Q3 (CVPR16) | ||
p5lp_radial |
0 | 0 | 5 | 0 | 1 us | 4 | Kukelova et al., (ICCV13) | ||
p2p1ll |
2 | 0 | 0 | 1 | 1.6 us | 8 | Kukelova et al., E3Q3 (CVPR16), Zhou et al. (ACCV18) | ||
p1p2ll |
1 | 0 | 0 | 2 | 1.7 us | 8 | Kukelova et al., E3Q3 (CVPR16), Zhou et al. (ACCV18) | ||
p3ll |
0 | 0 | 0 | 3 | 1.8 us | 8 | Kukelova et al., E3Q3 (CVPR16), Zhou et al. (ACCV18) | ||
up2p |
2 | 0 | 0 | 0 | ✔️ | 65 ns | 2 | Kukelova et al. (ACCV10) | |
ugp2p |
2 | 0 | 0 | 0 | ✔️ | ✔️ | 65 ns | 2 | Adapted from Kukelova et al. (ACCV10) |
ugp3ps |
3 | 0 | 0 | 0 | ✔️ | ✔️ | 390 ns | 2 | Unknown scale. Adapted from Kukelova et al. (ACCV10) |
up1p2pl |
1 | 2 | 0 | 0 | ✔️ | 370 ns | 4 | ||
up4pl |
0 | 4 | 0 | 0 | ✔️ | 1.4 us | 8 | Sweeney et al. (3DV14) | |
ugp4pl |
0 | 4 | 0 | 0 | ✔️ | ✔️ | 1.4 us | 8 | Sweeney et al. (3DV14) |
| Solver | Point-Point | Upright | Planar | Generalized | Approx. runtime | Max. solutions | Comment |
|---|---|---|---|---|---|---|---|
relpose_5pt |
5 | 5.5 us | 10 | Nister (PAMI 2004) | |||
relpose_8pt |
8+ | 2.2+ us | 1 | ||||
relpose_upright_3pt |
3 | ✔️ | 210 ns | 4 | Sweeney et al. (3DV14) | ||
gen_relpose_upright_4pt |
4 | ✔️ | ✔️ | 1.2 us | 6 | Sweeney et al. (3DV14) | |
relpose_upright_planar_2pt |
2 | ✔️ | ✔️ | 120 ns | 2 | Choi and Kim (IVC 2018) | |
relpose_upright_planar_3pt |
3 | ✔️ | ✔️ | 300 ns | 1 | Choi and Kim (IVC 2018) |
Getting the code:
> git clone --recursive https://github.com/vlarsson/PoseLib.git
> cd PoseLib
Example of a local installation:
> mkdir _build && cd _build
> cmake -DCMAKE_INSTALL_PREFIX=../_install ..
> cmake --build . --target install -j 8
(equivalent to 'make install -j8' in linux)
Installed files:
> tree ../installed
.
├── bin
│ └── benchmark
├── include
│ └── PoseLib
│ ├── gp3p.h
│ ├── ...
│ ├── poselib.h <== Library header (includes all the rest)
│ ├── ...
│ └── version.h
└── lib
├── cmake
│ └── PoseLib
│ ├── PoseLibConfig.cmake
│ ├── PoseLibConfigVersion.cmake
│ ├── PoseLibTargets.cmake
│ └── PoseLibTargets-release.cmake
└── libPoseLib.a
Uninstall library:
> make uninstall
Conditional compilation of benchmark binary is controlled by WITH_BENCHMARK option. Default if OFF (without benchmark).
Add -DWITH_BENCHMARK=ON to cmake to activate.
> cmake -DWITH_BENCHMARK=ON ..
cmake_minimum_required(VERSION 3.13)
project(Foo)
find_package(PoseLib REQUIRED)
add_executable(foo foo.cpp)
target_link_libraries(foo PRIVATE PoseLib::PoseLib)
If you are using the library for (scientific) publications, please cite the following source:
@misc{PoseLib,
title = {{PoseLib - Minimal Solvers for Camera Pose Estimation}},
author = {Viktor Larsson},
URL = {https://github.com/vlarsson/PoseLib},
year = {2020}
}
Please cite also the original publications of the different methods (see table above).
PoseLib is licensed under the BSD 3-Clause license. Please see License for details.