Direct visual pose estimation of omnidirectional images
Based on [LibPeR] C++ library, this repository contains code to demonstrate use cases of direct visual orientation estimation. Use MPP_SSD_alignment_VVSlike_EquiRect. MPP_SSD_alignment_EquiRect is let as legacy for the moment.
- install libPeR, libboost-filesystem-dev, libboost-system-dev, libboost-regex-dev
- create a new directory named build in MPP_SSD_alignment_VVSlike_EquiRect
- use cmake to fill the build directory
- open the project in build or use make in the latter directory to build the exe file
- run the program from the command line at the project top directory, considering it includes the 2021_MPP_SSD_alignment_EquiRect_media directory, with arguments as:
./build/MPPSSDalignment_VVSlike_EquiRect 5 0.1 ./2021_MPP_SSD_alignment_EquiRect_media/images_subdiv5/ ./2021_MPP_SSD_alignment_EquiRect_media/depthmaps_full/ 0 67 67 1 ./2021_MPP_SSD_alignment_EquiRect_media/images_subdiv5/maskFull_subdiv5.png 1 0 0 1
that are, in the reading order:
- the number of subdivision levels for the spherical image sampling
- the Gaussian expansion parameter
- the directory containing the images to process
- the directory containing the depthmaps for each image
- the reference image index (in the lexicographical order)
- the first image index of the sequence to process
- the last image index
- the image sequence looping step
- the image file of the mask (white pixels are to be considered whereas black pixels are not)
- the number of tested initial guesses for the optimization (the one leading to the lower MPP-SSD is kept)
- selects which estimation type to consider between 1 pure gyro, 2 incremental gyro, 3 incremental fyro with key images
- if 1, outputs the rotation compensated equirectangular image in jpg file
- if 1, considers truncated Gaussian domain (+ or - 3 lambda_g at most)
- ficPosesInit the text file of initial poses, one pose line per image to process (no example provided)
Sample images, depthmaps and mask files are provided in the "MPP_SSD_alignment_EquiRect_media" archive to be downloaded from here: http://mis.u-picardie.fr/~g-caron/data/PeR/2021_MPP_SSD_alignment_EquiRect_media.zip
Copyright (C) 2021-2025 by MIS lab (UPJV). All rights reserved.
See http://mis.u-picardie.fr/~g-caron/fr/index.php?page=7 for more information.
This software was developed at:
CNRS - AIST JRL (Joint Robotics Laboratory)
1-1-1 Umezono, Tsukuba, Ibaraki
Japan
This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
Description:
Insight about how to set the project and build the program
Author:
Guillaume CARON