[multiview] Addition of 10 points relative pose solver #474

michalpolic · 2018-08-07T15:44:26Z

Description

Addition of 10 points relative pose solver (F10)

Reference:

Zuzana Kukelova, Jan Heller, Martin Bujnak, Andrew Fitzgibbon, Tomas Pajdla:
Efficient Solution to the Epipolar Geometry for Radially Distorted Cameras,
The IEEE International Conference on Computer Vision (ICCV),
December, 2015, Santiago, Chile.

Features list

Addition of 10 points relative pose solver (F10)
Use F10 in featureMatching software
Rename TwoViewKernel -> PointFittingKernel
Update p4pf and p5pfr models

src/aliceVision/multiview/essentialF10Solver.hpp

src/aliceVision/multiview/essentialF10Solver.cpp

…ax` is unused

src/aliceVision/geometry/rigidTransformation3D.cpp

src/aliceVision/robustEstimation/LineKernel.hpp

src/aliceVision/robustEstimation/ScoreEvaluator.hpp

src/aliceVision/multiview/NViewDataSet.hpp

src/aliceVision/multiview/relativePose/Essential8PSolver.cpp

src/aliceVision/multiview/relativePose/Fundamental7PSolver.cpp

src/aliceVision/multiview/relativePose/Fundamental8PSolver.cpp

src/aliceVision/multiview/relativePose/FundamentalKernel.hpp

src/samples/robustFundamentalGuided/main_robustFundamentalGuided.cpp

src/aliceVision/multiview/AngularRadianErrorKernel.hpp

src/aliceVision/multiview/RelativePoseKernel.hpp

src/aliceVision/multiview/ResectionKernel.hpp

src/aliceVision/robustEstimation/FittingKernel.hpp

And `RansacKernel` to `PointFittingRansacKernel`

- boost-1.66.0 - eigen-3.3.7 - ceres-1.14.0 - opengv-2019.04.25 - openexr-2.3.0 - openimageio-1.8.9 - alembic-1.7.10 - geogram-1.6.11

src/aliceVision/multiview/relativePose/Fundamental10PSolver.hpp

…into dev_F10

Avoid test error on some cases

keep ownership on loss function to avoid memory leak (in particular on addConstraints2DToProblem which always leak in the general case)

this simplifies the dependencies inter modules and make more sense semantically

simogasp requested changes Aug 8, 2018

View reviewed changes

gregoire-dl force-pushed the dev_F10 branch from 055b919 to 9750c46 Compare October 23, 2018 10:25

gregoire-dl force-pushed the dev_F10 branch from 9750c46 to e66a6f3 Compare January 4, 2019 16:24

gregoire-dl added feature in progress labels Jan 4, 2019

gregoire-dl changed the title ~~Addition of 10 points relative pose solver~~ WIP [multiview] Addition of 10 points relative pose solver Jan 4, 2019

Addition of 10 points relative pose solver

0d35aa4

gregoire-dl force-pushed the dev_F10 branch from 8e257fe to 71666d7 Compare February 18, 2019 15:10

gregoire-dl added 7 commits February 18, 2019 16:10

[software] WIP: Use F10 Solver in FeatureMatching

71666d7

[multiview] Reformatting relative pose and resection solvers / kernels

09dacfa

[multiview] Remove empty EssentialError

d666022

[multiview] Remove unused P3P_ResectionKernel_K

58a5364

[software] featureMatching Fix error : in some case`geometricErrorM…

7e9e6f7

…ax` is unused

[multiview] Formatting comments and functions typography

bf14eb0

[multiview] Resolve cross dependency with robustEstimation

4ba7108

gregoire-dl force-pushed the dev_F10 branch from a3e2c98 to 4ba7108 Compare April 17, 2019 15:32

simogasp requested changes Apr 24, 2019

View reviewed changes

[multiview] FIx codacy issues

7a0dce7

simogasp reviewed Apr 24, 2019

View reviewed changes

src/aliceVision/multiview/AngularRadianErrorKernel.hpp Show resolved Hide resolved

[robustEstimation] Fix codacy issues

445d33b

simogasp requested changes Apr 24, 2019

View reviewed changes

gregoire-dl added 3 commits April 25, 2019 12:58

[aliceVision] Formatting code

31bad06

[robustEstimaation] Rename FittingKernel to PointFittingKernel

5aeaa8d

And `RansacKernel` to `PointFittingRansacKernel`

[travis] Update dependencies

71a7a8c

- boost-1.66.0 - eigen-3.3.7 - ceres-1.14.0 - opengv-2019.04.25 - openexr-2.3.0 - openimageio-1.8.9 - alembic-1.7.10 - geogram-1.6.11

simogasp added this to the 2019.2 milestone Apr 26, 2019

simogasp reviewed Apr 26, 2019

View reviewed changes

src/aliceVision/multiview/relativePose/Fundamental10PSolver.hpp Show resolved Hide resolved

fabiencastan modified the milestones: 2019.2, 2019.3 Jul 5, 2019

simogasp added the type:pr label Sep 12, 2019

Merge branch 'develop' of https://github.com/alicevision/AliceVision …

c5ba23d

…into dev_F10

fabiencastan and others added 8 commits May 3, 2020 20:32

[multiview] tests: use a fixed translate value

0573b90

Avoid test error on some cases

[multiview] tests: more checks

392763e

[numeric] add cheirality test functions

7c995c3

[cmake] add unit test for cheirality functions

0ef5272

[numeric] typedef --> using

a392bf4

[test] add safeguard to generate points in front of the camera

3947752

[test] add more trials

4d8a5ed

[cmake] add explicit boost test define

cccac2e

fabiencastan force-pushed the dev_F10 branch from ff0aecf to d3ed914 Compare May 6, 2020 01:41

fabiencastan added 2 commits May 11, 2020 11:20

[sfm] lossFunction as a ceres options

24667bd

keep ownership on loss function to avoid memory leak (in particular on addConstraints2DToProblem which always leak in the general case)

Merge remote-tracking branch 'origin/develop' into dev_F10

e684381

fabiencastan force-pushed the dev_F10 branch from 0c0a87e to e684381 Compare May 11, 2020 09:22

fabiencastan changed the title ~~WIP [multiview] Addition of 10 points relative pose solver~~ [multiview] Addition of 10 points relative pose solver May 12, 2020

fabiencastan requested a review from simogasp May 13, 2020 20:53

fabiencastan and others added 9 commits May 15, 2020 14:07

[ci] travis: update SfM_quality_evaluation

a284fcf

[multiview] typos

fd21b32

[multiview] missing override

015b916

[robustEstimation] no virtual when override

6b4d6b1

[multiview] const

ffb6d2c

[sample] fix

5ce4113

[refactoring] move guidedMatching and supportEstimation in matching

47244f7

this simplifies the dependencies inter modules and make more sense semantically

[matching] split cpp hpp supportEstimation

c76bc69

[matching] split cpp hpp guidedMatching

a7de74d

simogasp force-pushed the dev_F10 branch from 5070033 to a7de74d Compare May 16, 2020 22:59

[multiview] doc

ec1f0ed

simogasp approved these changes May 16, 2020

View reviewed changes

simogasp removed the in progress label May 16, 2020

fabiencastan merged commit 88e6267 into develop May 17, 2020

fabiencastan deleted the dev_F10 branch May 17, 2020 19:52

fabiencastan mentioned this pull request Jun 7, 2020

[nodes] FeatureMatching Add fundamental_with_distortion option alicevision/Meshroom#931

Merged

Provide feedback

Saved searches

Use saved searches to filter your results more quickly

[multiview] Addition of 10 points relative pose solver #474

[multiview] Addition of 10 points relative pose solver #474

michalpolic commented Aug 7, 2018 •

edited by fabiencastan

Loading

[multiview] Addition of 10 points relative pose solver #474

[multiview] Addition of 10 points relative pose solver #474

Conversation

michalpolic commented Aug 7, 2018 • edited by fabiencastan Loading

Description

Features list

michalpolic commented Aug 7, 2018 •

edited by fabiencastan

Loading