| // Copyright (c) 2022, ETH Zurich and UNC Chapel Hill. | |
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| // Author: Johannes L. Schoenberger (jsch-at-demuc-dot-de) | |
| namespace colmap { | |
| // Solver for the Generalized Relative Pose problem using a minimal of 8 2D-2D | |
| // correspondences. This implementation is based on: | |
| // | |
| // "Efficient Computation of Relative Pose for Multi-Camera Systems", | |
| // Kneip and Li. CVPR 2014. | |
| // | |
| // Note that the solution to this problem is degenerate in the case of pure | |
| // translation and when all correspondences are observed from the same cameras. | |
| // | |
| // The implementation is a modified and improved version of Kneip's original | |
| // implementation in OpenGV licensed under the BSD license. | |
| class GR6PEstimator { | |
| public: | |
| // The generalized image observations of the left camera, which is composed of | |
| // the relative pose of the specific camera in the generalized camera and its | |
| // image observation. | |
| struct X_t { | |
| EIGEN_MAKE_ALIGNED_OPERATOR_NEW | |
| // The relative transformation from the generalized camera to the camera | |
| // frame of the observation. | |
| Eigen::Matrix3x4d rel_tform; | |
| // The 2D image feature observation. | |
| Eigen::Vector2d xy; | |
| }; | |
| // The normalized image feature points in the left camera. | |
| typedef X_t Y_t; | |
| // The relative transformation between the two generalized cameras. | |
| typedef Eigen::Matrix3x4d M_t; | |
| // The minimum number of samples needed to estimate a model. Note that in | |
| // theory the minimum required number of samples is 6 but Laurent Kneip showed | |
| // in his paper that using 8 samples is more stable. | |
| static const int kMinNumSamples = 8; | |
| // Estimate the most probable solution of the GR6P problem from a set of | |
| // six 2D-2D point correspondences. | |
| static std::vector<M_t> Estimate(const std::vector<X_t>& points1, | |
| const std::vector<Y_t>& points2); | |
| // Calculate the squared Sampson error between corresponding points. | |
| static void Residuals(const std::vector<X_t>& points1, | |
| const std::vector<Y_t>& points2, const M_t& proj_matrix, | |
| std::vector<double>* residuals); | |
| }; | |
| } // namespace colmap | |
| EIGEN_DEFINE_STL_VECTOR_SPECIALIZATION_CUSTOM(colmap::GR6PEstimator::X_t) | |