Coordinates, Pose Conversion, and Evaluation

This section details the conversion methods and evaluation processes involved when PoSDK handles different coordinate systems, pose representations, and interactions with third-party libraries and standard datasets.

Understanding this content is crucial for correctly using PoSDK for pose estimation, interfacing with other vision libraries, and evaluating algorithm performance.

Pose Conventions and Conversions

Detailed description of PoSDK’s standard pose conventions and coordinate system conversion methods with mainstream vision libraries such as OpenMVG, OpenCV, OpenGV, etc.

Dataset Specifications

Introduction to standard dataset formats supported by PoSDK, including data loading and usage methods for datasets such as 1DSfM, Strecha, RANSAC2020, etc.

Accuracy Evaluation System

Complete accuracy evaluation framework covering evaluation methods for relative poses, global poses, and global translations, providing standardized algorithm performance evaluation tools.

Content Overview

• Pose Representation Conventions
  • PoSDK Standard Pose Conventions
  • OpenGV Conventions
  • OpenCV Pose Conventions
  • OpenMVG Pose Conventions
  • GraphOptim Pose Conventions
• Processing Real-World Datasets
  • Strecha Dataset Pose Conventions
  • 1DSfM Dataset
  • RANSAC 2020 (CVPR Workshop) Dataset
• PoSDK Accuracy Evaluation System
  • Evaluation System Overview
  • Evaluation Process
  • Mathematical Foundation
  • Usage Example
  • Notes