When a camera is calibrated, it becomes possible to relate the captured images to the outside world. We previously explained that if the 3D structure of an object is known, then you can predict how the object will be projected on to the sensor of the camera. The process of image formation is described by the projective equation presented at the beginning of this chapter. When most of the terms of this equation are known, then it becomes possible to infer the value of the other elements (2D or 3D) through the observation of some images. In this recipe, we will look at the camera pose recovery problem when a known 3D structure is observed.
Recovering the camera pose
How to do it...
Let's consider a simple object—...
