Viktor Larsson

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...

Camera pybind improvements

6

For the poselib.Camera pybind https://github.com/PoseLib/PoseLib/blob/master/pybind/pyposelib.cc#L777-L785 some nice to have features could be * Initialize from dict * Convert Camera to dict * Interface for project/unproject

TangentSampson for relative pose estimation

2

Integrate Tsamp error into the robust estimator and refinement. https://openaccess.thecvf.com//content/ICCV2023/papers/Terekhov_Tangent_Sampson_Error_Fast_Approximate_Two-view_Reprojection_Error_for_Central_ICCV_2023_paper.pdf

Small bugfix in HybridPoseEstimator

1

Fixes the bug in (#117) suggested by @jtressle.