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We provide both C++ and Matlab code that estimates where a picture was taken, giving a single pair of 3D local geometry structure (differential geometry) and its projection in a 2D image. Two particular cases are common

  1. A pair of 3D-2D of SIFT features (the 3D is just the SIFT center with reconstructed 3D SIFT orientation from two other images)
  2. A pair of 3D-2D point correspondences, where the points belong to curves (e.g., 2D-3D edgels, corners, or junctions)

The algorithm, P2PT, supersedes the usual P3P by using only two features (each with a direction). This also solves a local pose problem which can be integrated along curves to provide a more global estimate or a matching algorithm. The run time of the C++ code is in the same order as the best P3P implementation available (tens of microseconds).

A journal version is available at: https://ieeexplore.ieee.org/document/9057738

Camera Pose Estimation Using Curve Differential Geometry, IEEE Transactions on Pattern Analysis and Machine Intelligence - PAMI, 2020, Ricardo Fabbri, Peter J. Giblin and Benjamin Kimia.

This is an improvement over the research code originally written for the paper:

R. Fabbri, P. J. Giblin, B. B. Kimia, "Camera Pose Estimation Using Curve Differential Geometry", ECCV 2012, Firenze, Italy (Lecture Notes in Computer Science)

PDF and bibtex available at: http://multiview-3d-drawing.sourceforge.net

This work was developed at Brown University, University of Liverpool and Rio de Janeiro State University.

Main Function

Matlab and GNU Octave

matlab/rf_pose_from_point_tangents_root_find_function_any.m

This function will return all possible (Rotation, Translation) solutions for a given pair of 3D-2D point-tangents (oriented points). These can then be tested within standard RANSAC by you to keep only the one with the most inliers.

A simple demo with random data can be found in

matlab/demo.m

C++

See cmd/diffgeom2pose-test.cxx

See also OpenMVG branch develop_keypoint_orientation_sfm file OpenMVG/src/OpenMVG/multiview/solver_resection_p2pt_fabbri.hpp

Disclaimer

C++ version

This code is meant for production and is currently being incorporated to mainstream SfM pipelines such as OpenMVG and Colmap.

See OpenMVG branch develop_keypoint_orientation_sfm

Matlab version

The matlab code is reseach code writen in a "lab" language (Matlab) and, despite extensive experiments from our PAMI'20 paper showing it is robust and reliable, one shouldn't expect it to be ready for production. A hardened version of this code is the C++ implementation available in the folder p2pt/. The implementation produces the results in the paper, and may well be very useful, but it may still be hugely improved (as we have been doing for the C++ version). Oh, and don't forget: please cite this paper ;^)

Contact

Please contact Ricardo Fabbri [email protected] or any of the other authors for requests.

This work was developed at Brown University, University of Liverpool and State University of Rio de Janeiro.