| // Copyright (c) 2022, ETH Zurich and UNC Chapel Hill. | |
| // All rights reserved. | |
| // | |
| // Redistribution and use in source and binary forms, with or without | |
| // modification, are permitted provided that the following conditions are met: | |
| // | |
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| // | |
| // * Redistributions in binary form must reproduce the above copyright | |
| // notice, this list of conditions and the following disclaimer in the | |
| // documentation and/or other materials provided with the distribution. | |
| // | |
| // * Neither the name of ETH Zurich and UNC Chapel Hill nor the names of | |
| // its contributors may be used to endorse or promote products derived | |
| // from this software without specific prior written permission. | |
| // | |
| // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" | |
| // AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE | |
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| // POSSIBILITY OF SUCH DAMAGE. | |
| // | |
| // Author: Johannes L. Schoenberger (jsch-at-demuc-dot-de) | |
| namespace colmap { | |
| // Essential matrix estimator from corresponding normalized point pairs. | |
| // | |
| // This algorithm solves the 5-Point problem based on the following paper: | |
| // | |
| // D. Nister, An efficient solution to the five-point relative pose problem, | |
| // IEEE-T-PAMI, 26(6), 2004. | |
| // http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.86.8769 | |
| class EssentialMatrixFivePointEstimator { | |
| public: | |
| typedef Eigen::Vector2d X_t; | |
| typedef Eigen::Vector2d Y_t; | |
| typedef Eigen::Matrix3d M_t; | |
| // The minimum number of samples needed to estimate a model. | |
| static const int kMinNumSamples = 5; | |
| // Estimate up to 10 possible essential matrix solutions from a set of | |
| // corresponding points. | |
| // | |
| // The number of corresponding points must be at least 5. | |
| // | |
| // @param points1 First set of corresponding points. | |
| // @param points2 Second set of corresponding points. | |
| // | |
| // @return Up to 10 solutions as a vector of 3x3 essential matrices. | |
| static std::vector<M_t> Estimate(const std::vector<X_t>& points1, | |
| const std::vector<Y_t>& points2); | |
| // Calculate the residuals of a set of corresponding points and a given | |
| // essential matrix. | |
| // | |
| // Residuals are defined as the squared Sampson error. | |
| // | |
| // @param points1 First set of corresponding points. | |
| // @param points2 Second set of corresponding points. | |
| // @param E 3x3 essential matrix. | |
| // @param residuals Output vector of residuals. | |
| static void Residuals(const std::vector<X_t>& points1, | |
| const std::vector<Y_t>& points2, const M_t& E, | |
| std::vector<double>* residuals); | |
| }; | |
| // Essential matrix estimator from corresponding normalized point pairs. | |
| // | |
| // This algorithm solves the 8-Point problem based on the following paper: | |
| // | |
| // Hartley and Zisserman, Multiple View Geometry, algorithm 11.1, page 282. | |
| class EssentialMatrixEightPointEstimator { | |
| public: | |
| typedef Eigen::Vector2d X_t; | |
| typedef Eigen::Vector2d Y_t; | |
| typedef Eigen::Matrix3d M_t; | |
| // The minimum number of samples needed to estimate a model. | |
| static const int kMinNumSamples = 8; | |
| // Estimate essential matrix solutions from set of corresponding points. | |
| // | |
| // The number of corresponding points must be at least 8. | |
| // | |
| // @param points1 First set of corresponding points. | |
| // @param points2 Second set of corresponding points. | |
| static std::vector<M_t> Estimate(const std::vector<X_t>& points1, | |
| const std::vector<Y_t>& points2); | |
| // Calculate the residuals of a set of corresponding points and a given | |
| // essential matrix. | |
| // | |
| // Residuals are defined as the squared Sampson error. | |
| // | |
| // @param points1 First set of corresponding points. | |
| // @param points2 Second set of corresponding points. | |
| // @param E 3x3 essential matrix. | |
| // @param residuals Output vector of residuals. | |
| static void Residuals(const std::vector<X_t>& points1, | |
| const std::vector<Y_t>& points2, const M_t& E, | |
| std::vector<double>* residuals); | |
| }; | |
| } // namespace colmap | |