GitHub - naibaf7/pose_estimation: Pose estimation of a 2D picture, given a 3D bundler output

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Pose estimation of a 2D picture, given a 3D bundler output

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Name		Name	Last commit message	Last commit date
Latest commit History 3 Commits
.metadata		.metadata
.settings		.settings
RemoteSystemsTempFiles		RemoteSystemsTempFiles
data		data
out		out
tmp		tmp
.cproject		.cproject
.gitignore		.gitignore
.project		.project
3DPhoto_Report_Zorzi_Tschopp.pdf		3DPhoto_Report_Zorzi_Tschopp.pdf
LICENSE		LICENSE
Makefile		Makefile
P3p.cpp		P3p.cpp
P3p.hpp		P3p.hpp
P4pf.cpp		P4pf.cpp
P4pf.hpp		P4pf.hpp
README.txt		README.txt
SIFT_keypoint.hpp		SIFT_keypoint.hpp
SIFT_loader.cpp		SIFT_loader.cpp
SIFT_loader.hpp		SIFT_loader.hpp
benchmark.cpp		benchmark.cpp
benchmark.hpp		benchmark.hpp
bundler_camera.cpp		bundler_camera.cpp
bundler_camera.hpp		bundler_camera.hpp
import_export.cpp		import_export.cpp
import_export.hpp		import_export.hpp
log.hpp		log.hpp
p3p_testing.cpp		p3p_testing.cpp
p4p_testing.cpp		p4p_testing.cpp
parse_bundler.cpp		parse_bundler.cpp
parse_bundler.hpp		parse_bundler.hpp
pose_estimation.cpp		pose_estimation.cpp
pose_utils.cpp		pose_utils.cpp
pose_utils.hpp		pose_utils.hpp
query_loader.cpp		query_loader.cpp
query_loader.hpp		query_loader.hpp
query_processor.cpp		query_processor.cpp
query_processor.hpp		query_processor.hpp
query_processor_advanced.cpp		query_processor_advanced.cpp
query_processor_basic.cpp		query_processor_basic.cpp

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README for the 3D Project: Robust large scale localization

Use the Makefile to compile the project. The program has command line options and should be self-explanatory.

-== LIBRARIES: ==-
OpenMP
FLANN, Version 1.8.4
OpenCV (Core, Highgui, Imgproc), Version 2.4.9

-== SOURCE CODE: ==-
The code is structured with the following files (excluding code we did not change or code ourselves, and those not critically relevant):
-pose_estimation.cpp: Wraps all the high level functions and the command line interface.
-benchmark.cpp: Contains the code for benchmarking the two approaches.
-import_export.cpp: Code for result visualization and import/export. The output is Meshlab compatible.
-P3p.cpp and P4pf.cpp: Code for the pose estimation calculations given 3 points with known focal length or 4 points with unknown focal length. Reprogrammed by us but with given starting code.
-pose_utils.cpp: Small helper source for random functions and string modification operations.
query_loader.cpp: Contains the code to load a query image with all parameters (image size, focal length, SIFT descriptors). It also contains the query class that stores final pose solutions. Additionally, the query loader can automatically grab the original images from flickr.com.
-query_processor.cpp: Common class for the basic and advanced approach, including the reprojection/inlier test.
-query_processor_basic.cpp: Basic approach implementation of RANSAC.
-query_processor_advanced.cpp: Advanced approach, including co-occurence and backmatching. This file in which the algorithm by Y. Li et al. is implemented.

-== PROJECT DATA: ==-
The project data is distributed separately. It is best to use the Dubrovnik datasets, which are known to work.
See here for the bundler output:
http://www.cs.cornell.edu/projects/p2f/
Additionally, an INFO file (binary) of the dataset without the query poses is required. We cannot provide this file, due to its large size.

It is explained in the "tmp", "out" and "data" folders README how to extract and place the data in order to get it working.