PoseLib
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vlarsson
Minimal solvers for calibrated camera pose estimation
It seems that the code only solves R, but not the tz and focal length. According to the original paper, the focal length and distortion parameters can be solved with...
Should one expect the implementation of minimal solvers from https://arxiv.org/abs/2203.07930 in PoseLib?
Hello, I managed to install the python bindings on Windows, but there was an issue during the process. I figured this may save someone some time. The first two lines...
The RANSAC stopping criteria is currently not correctly implemented when PROSAC is used. This will likely require some refactorization of the RANSAC as we need to expose the inlier ratios...
Refactor the python bindings such that * it includes pybind11 as a submodule * it's possible to just run `pip install .` (having setup.py in the main folder)
While most minimal solvers gracefully handle large FoV (>180 deg) the current robust estimators make heavy use of normalizing to a 2D image plane which works poorly for these cameras....
Currently the generalized abs. pose estimator only handles the case of fixed scale, even though there are minimal solvers which estimate scale available as well. However, currently there is no...
The point sampling for multi-camera estimators is currently done by first uniformly drawing a camera, and then drawing a correspondence from this camera. This heavily biases towards points in cameras...
Currently only a subset of camera models are supported (SIMPLE_PINHOLE, PINHOLE, SIMPLE_RADIAL, RADIAL, OPENCV). It would be good to implement the remaining ones, or at least the most popular of...