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https://github.com/mergarsal/FastCertRelPose

Fast and robust certifiable relative pose estimation
https://github.com/mergarsal/FastCertRelPose

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Fast and robust certifiable relative pose estimation

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# Fast and Robust Relative Pose Estimation for Calibrated Cameras

This repository contains the code
for the relative pose estimation
between two central and calibrated cameras
for the [paper](http://arxiv.org/abs/2101.08524) [1].

**Authors:** [Mercedes Garcia-Salguero](http://mapir.uma.es/mapirwebsite/index.php/people/290), [Javier Gonzalez-Jimenez](http://mapir.isa.uma.es/mapirwebsite/index.php/people/95-javier-gonzalez-jimenez)

**License:** [GPLv3](https://raw.githubusercontent.com/mergarsal/FastCertRelPose/main/LICENSE)

If you use this code for your research, please cite:

```
@misc{garciasalguero2021fast,
title={Fast and Robust Certifiable Estimation of the Relative Pose Between Two Calibrated Cameras},
author={Mercedes Garcia-Salguero and Javier Gonzalez-Jimenez},
year={2021},
eprint={2101.08524},
archivePrefix={arXiv},
primaryClass={cs.CV}
}
```

Some parts of this repository are based on previous works:
1. Matlab & python bindings from [TEASER++](https://arxiv.org/pdf/2001.07715.pdf)

```
@article{yang2020teaser,
title={Teaser: Fast and certifiable point cloud registration},
author={Yang, Heng and Shi, Jingnan and Carlone, Luca},
journal={arXiv preprint arXiv:2001.07715},
year={2020}
}
```
2. Scene generation from [opengv](https://github.com/laurentkneip/opengv.git)

## Dependences
* Eigen
```
sudo apt install libeigen3-dev
```

* Optimization (own fork)
```
git clone https://github.com/mergarsal/Optimization.git
```
* GNCSO
```
git clone --recursive https://github.com/mergarsal/GNCSO.git
```

* OpenGV
```
git clone https://github.com/laurentkneip/opengv.git
```

## Build
```
git clone --recursive https://github.com/mergarsal/FastCertRelPose.git
cd GNCSO

mkdir build & cd build

cmake ..

make -jX

```

The compiled examples should be inside the `bin` directory. Run:
```
./bin/example_essential_matrix
```

## Install
In `build` folder:
```
sudo make install
```

We also provide the uninstall script:
```
sudo make uninstall
```

## How to use the library in your project

See the example in the folder `example_install`
for the basic elements.

1. In your CMakeLists.txt, add the dependences:
```
find_package(gncso REQUIRED)
find_package(opengv REQUIRED)
find_package(Essential REQUIRED)
```

2. For your executable, add the library in
```
target_link_libraries(XXX Essential opengv gncso)
```