Homography solvers with radial distortion

[marcusvaltonen]

Hi! Very nice library. I saw that you have added support for homographies. I have some implemented in Eigen here:

https://github.com/marcusvaltonen/HomLib

namely:

Fitzgibbon (CVPR, 2001) Kukelova et al. (CVPR, 2015) Valtonen Örnhag et al. (ICPR, 2020) Valtonen Örnhag et al. (WACV, 2021)

I am not actively maintaining them currently, so I was thinking, if you are interested, I could port them to PoseLib and deprecate my own library.

Please let me know your thoughts on this. I also have some other solvers in DronePoseLib:

https://github.com/marcusvaltonen/DronePoseLib

from Valtonen Örnhag et al. (CVPRW, 2022), if those could be of interest.

[vlarsson]

Hi Marcus, Yes I would definitely be interested in these solvers. I quickly looked through the code and I think it would only require minor modifications to integrate them. Such as making the input format consistent (std::vectorEigen::Vector2d/3d for points instead of MatrixXd e.g.). At least integrating the solvers themselves should be easy. Integrating them into the robust estimation would require a bit more work (and I am in the process of rewriting a lot of this code so it would be better to wait)

If you are able to setup a pull request I would be happy to have them.

[marcusvaltonen]

Great, I will prepare a pull request within a month or so.

I did start integration with tsattler/RansacLib (which is closely related to what you are using it seems) for DronePoseLib, but that was over a year ago. FWIW, they are on a separate branch:

https://github.com/marcusvaltonen/DronePoseLib/pull/10