This repo provides the code used in the paper

End-to-End Learnable Geometric Vision by Backpropagating PnP Optimization (CVPR 2020)

Watch our video demo

Install

bash requirements.sh

Back-propagatable PnP (BPnP)

Using BPnP is easy. Just add the following line in your code

bash
import BPnP
bpnp = BPnP.BPnP.apply

Demo experiments

To see the demos presented in the paper, run

bash
python demoPoseEst.py

bash
python demoSfM.py

bash
python demoCamCali.py

Cite this work

@inproceedings{BPnP2020,
    Author = {Chen, Bo and Parra, Alvaro and Cao, Jiewei and Li, Nan and Chin, Tat-Jun},
    Title = {End-to-End Learnable Geometric Vision by Backpropagating PnP Optimization},
    Booktitle = {CVPR},
    Year = {2020}}