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Calculate the relative camera pose of 2 images #100

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KhanhNgoDuy opened this issue May 3, 2024 · 1 comment

KhanhNgoDuy commented May 3, 2024

Hi, how can I calculate the relative pose of 2 images.

Specifically, I want to know the (difference in) azimuth, elevation and radius of the 2 viewpoints (which correspond to the 2 camera).

Contributor

vincent-leroy commented May 7, 2024

Hi @KhanhNgoDuy
Please check-out this line for pairwise relative pose:

dust3r/dust3r/cloud_opt/pair_viewer.py

Line 55 in 01b2f1d

res = cv2.solvePnPRansac(pts3d[msk], pixels[msk], K, None,

the res variable contains rotation R and translation T as extracted and processed in the lines right after.

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