{"action":"created","issue":{"url":"https://api.github.com/repos/MRPT/GSoC2016-discussions/issues/1","repository_url":"https://api.github.com/repos/MRPT/GSoC2016-discussions","labels_url":"https://api.github.com/repos/MRPT/GSoC2016-discussions/issues/1/labels{/name}","comments_url":"https://api.github.com/repos/MRPT/GSoC2016-discussions/issues/1/comments","events_url":"https://api.github.com/repos/MRPT/GSoC2016-discussions/issues/1/events","html_url":"https://github.com/MRPT/GSoC2016-discussions/issues/1","id":150537149,"number":1,"title":"PnP Algorithms toolkit for MRPT (By: Chandra)","user":{"login":"jlblancoc","id":5497818,"avatar_url":"https://avatars.githubusercontent.com/u/5497818?v=3","gravatar_id":"","url":"https://api.github.com/users/jlblancoc","html_url":"https://github.com/jlblancoc","followers_url":"https://api.github.com/users/jlblancoc/followers","following_url":"https://api.github.com/users/jlblancoc/following{/other_user}","gists_url":"https://api.github.com/users/jlblancoc/gists{/gist_id}","starred_url":"https://api.github.com/users/jlblancoc/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/jlblancoc/subscriptions","organizations_url":"https://api.github.com/users/jlblancoc/orgs","repos_url":"https://api.github.com/users/jlblancoc/repos","events_url":"https://api.github.com/users/jlblancoc/events{/privacy}","received_events_url":"https://api.github.com/users/jlblancoc/received_events","type":"User","site_admin":false},"labels":[],"state":"open","locked":false,"assignee":null,"assignees":[],"milestone":null,"comments":53,"created_at":"2016-04-23T09:39:42Z","updated_at":"2016-07-29T03:40:25Z","closed_at":null,"body":"The objective of this project is to develop a novel closed form Perspective n Point (PnP) pose estimation algorithm for a monocular camera. A variety of techniques have been developed to estimate the pose using a monocular camera. However, the algorithms developed do not meet the simultaneous requirement of computation time, precision and efficiency. The proposed algorithm, Linear Least Squares (LLS-PnP) would minimize the cost function (non-linear error norm) which can be explicitly expressed as a quadratic function of the rotation matrix. The position is eliminated using least squares formulation. This leads to the possibility to solve the estimation problem in a closed form w.r.t. the rotation matrix. The proposed algorithm will break new grounds in computer vision and can be extended for pose estimation using Stereo vision. The final product (toolkit) will comprise of the new algorithm and the state-of-the-art PnP algorithms, which will provide the end user the choice to choose any given algorithm as well as to enable performance comparison between the various algorithms."},"comment":{"url":"https://api.github.com/repos/MRPT/GSoC2016-discussions/issues/comments/236087265","html_url":"https://github.com/MRPT/GSoC2016-discussions/issues/1#issuecomment-236087265","issue_url":"https://api.github.com/repos/MRPT/GSoC2016-discussions/issues/1","id":236087265,"user":{"login":"mangi020","id":18646193,"avatar_url":"https://avatars.githubusercontent.com/u/18646193?v=3","gravatar_id":"","url":"https://api.github.com/users/mangi020","html_url":"https://github.com/mangi020","followers_url":"https://api.github.com/users/mangi020/followers","following_url":"https://api.github.com/users/mangi020/following{/other_user}","gists_url":"https://api.github.com/users/mangi020/gists{/gist_id}","starred_url":"https://api.github.com/users/mangi020/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/mangi020/subscriptions","organizations_url":"https://api.github.com/users/mangi020/orgs","repos_url":"https://api.github.com/users/mangi020/repos","events_url":"https://api.github.com/users/mangi020/events{/privacy}","received_events_url":"https://api.github.com/users/mangi020/received_events","type":"User","site_admin":false},"created_at":"2016-07-29T03:40:25Z","updated_at":"2016-07-29T03:40:25Z","body":"Hi @jesusbriales @famoreno @jlblancoc \r\n @jesusbriales Hope you had a great trip.  Apologies for the delay . As we are approaching the final deadline, PFA some check lists. I have completed most of the modules and am summarizing the same.\r\n\r\n**_Tasks completed:_**\r\n- [x] Doxygen Docs (Attached)\r\n[pnp.zip](https://github.com/MRPT/GSoC2016-discussions/files/389825/pnp.zip)\r\n\r\n- [x] Unit tests (added, but can be optimized further by compressing into a single class) file pnp_unittest.cpp\r\n\r\n**_Guidance Required:_**\r\n- [ ] Interactive d3 plots (generated and attached) to be added to doxygen docs. Where would be a good place to add them ?\r\n[d3_plots_html.zip](https://github.com/MRPT/GSoC2016-discussions/files/389834/d3_plots_htm l.zip)\r\n\r\n- [ ] Is Doxygen docs sufficient ? All internal member functions and implementation of source code has been hidden.\r\n\r\n**_Work in Progress:_**\r\n\r\n- [ ] Robustness and function timing tests (python) \r\n\r\n- [ ] UPnP Fix (UPnP algorithm from [OpenGV library](https://github.com/laurentkneip/opengv) is not very clear as to the location of the source code. \r\n\r\n- [ ] New algorithm (Lagrange multiplier based polynomial solution on elements of rotation matrix) **_To be done at the end_**\r\n\r\n\r\n Looking forward to your feedback and wrapping things up. \r\n\r\nBest\r\n\r\nChandra\r\n\r\n\r\n\r\n"}}
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