{"action":"created","issue":{"url":"https://api.github.com/repos/surberj/Vision/issues/61","repository_url":"https://api.github.com/repos/surberj/Vision","labels_url":"https://api.github.com/repos/surberj/Vision/issues/61/labels{/name}","comments_url":"https://api.github.com/repos/surberj/Vision/issues/61/comments","events_url":"https://api.github.com/repos/surberj/Vision/issues/61/events","html_url":"https://github.com/surberj/Vision/issues/61","id":150332488,"number":61,"title":"2D2D matching using opencv","user":{"login":"surberj","id":9253897,"avatar_url":"https://avatars.githubusercontent.com/u/9253897?v=3","gravatar_id":"","url":"https://api.github.com/users/surberj","html_url":"https://github.com/surberj","followers_url":"https://api.github.com/users/surberj/followers","following_url":"https://api.github.com/users/surberj/following{/other_user}","gists_url":"https://api.github.com/users/surberj/gists{/gist_id}","starred_url":"https://api.github.com/users/surberj/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/surberj/subscriptions","organizations_url":"https://api.github.com/users/surberj/orgs","repos_url":"https://api.github.com/users/surberj/repos","events_url":"https://api.github.com/users/surberj/events{/privacy}","received_events_url":"https://api.github.com/users/surberj/received_events","type":"User","site_admin":false},"labels":[],"state":"open","locked":false,"assignee":null,"milestone":null,"comments":1,"created_at":"2016-04-22T10:25:22Z","updated_at":"2016-04-22T13:21:25Z","closed_at":null,"body":"cpp reference of the topic\r\nhttp://docs.opencv.org/master/d9/d0c/group__calib3d.html#gsc.tab=0\r\n\r\nTest limitations of opencv's 2D2D matching and pose estimation techniques on Unispital dataset:\r\n- use cv::FlannBasedMatcher class for matching \r\nhttp://docs.opencv.org/3.1.0/dc/de2/classcv_1_1FlannBasedMatcher.html#gsc.tab=0\r\n\r\n- use cv::triangulatePoints() for initializing the 3D points\r\nhttp://docs.opencv.org/master/d9/d0c/group__calib3d.html#gad3fc9a0c82b08df034234979960b778c&gsc.tab=0\r\n\r\n- use cv::solvePnPRansac for relative pose estimation\r\nhttp://docs.opencv.org/master/d9/d0c/group__calib3d.html#ga549c2075fac14829ff4a58bc931c033d&gsc.tab=0"},"comment":{"url":"https://api.github.com/repos/surberj/Vision/issues/comments/213426235","html_url":"https://github.com/surberj/Vision/issues/61#issuecomment-213426235","issue_url":"https://api.github.com/repos/surberj/Vision/issues/61","id":213426235,"user":{"login":"surberj","id":9253897,"avatar_url":"https://avatars.githubusercontent.com/u/9253897?v=3","gravatar_id":"","url":"https://api.github.com/users/surberj","html_url":"https://github.com/surberj","followers_url":"https://api.github.com/users/surberj/followers","following_url":"https://api.github.com/users/surberj/following{/other_user}","gists_url":"https://api.github.com/users/surberj/gists{/gist_id}","starred_url":"https://api.github.com/users/surberj/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/surberj/subscriptions","organizations_url":"https://api.github.com/users/surberj/orgs","repos_url":"https://api.github.com/users/surberj/repos","events_url":"https://api.github.com/users/surberj/events{/privacy}","received_events_url":"https://api.github.com/users/surberj/received_events","type":"User","site_admin":false},"created_at":"2016-04-22T13:21:25Z","updated_at":"2016-04-22T13:21:25Z","body":"instead of cv::solvePnPRansac we will probably use the implementation of Kneip et al (the same which Marco was using):\r\npaper:\r\nhttp://rpg.ifi.uzh.ch/docs/CVPR11_kneip.pdf\r\n\r\nimplementation:\r\nhttps://github.com/uzh-rpg/rpg_monocular_pose_estimator\r\n(http://rpg.ifi.uzh.ch/docs/ICRA14_Faessler.pdf"}}