Permalink
Cannot retrieve contributors at this time
This commit does not belong to any branch on this repository, and may belong to a fork outside of the repository.
123 lines (102 sloc)
5.54 KB
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
#pragma once | |
#include "basic_geometry.h" | |
// All of these return (0,0,0) if the rays are parallel or divergent, or if the | |
// intersection is behind either of the two cameras. No gradients are reported | |
// in that case | |
// Basic closest-approach-in-3D routine. This is the "Mid" method in | |
// "Triangulation: Why Optimize?", Seong Hun Lee and Javier Civera | |
// https://arxiv.org/abs/1907.11917 | |
mrcal_point3_t | |
mrcal_triangulate_geometric(// outputs | |
// These all may be NULL | |
mrcal_point3_t* dm_dv0, | |
mrcal_point3_t* dm_dv1, | |
mrcal_point3_t* dm_dt01, | |
// inputs | |
// not-necessarily normalized vectors in the camera-0 | |
// coord system | |
const mrcal_point3_t* v0, | |
const mrcal_point3_t* v1, | |
const mrcal_point3_t* t01); | |
// Minimize L2 pinhole reprojection error. Described in "Triangulation Made | |
// Easy", Peter Lindstrom, IEEE Conference on Computer Vision and Pattern | |
// Recognition, 2010. This is the "L2 img 5-iteration" method (but with only 2 | |
// iterations) in "Triangulation: Why Optimize?", Seong Hun Lee and Javier | |
// Civera. https://arxiv.org/abs/1907.11917 | |
// Lindstrom's paper recommends 2 iterations | |
mrcal_point3_t | |
mrcal_triangulate_lindstrom(// outputs | |
// These all may be NULL | |
mrcal_point3_t* dm_dv0, | |
mrcal_point3_t* dm_dv1, | |
mrcal_point3_t* dm_dRt01, | |
// inputs | |
// not-necessarily normalized vectors in the LOCAL | |
// coordinate system. This is different from the other | |
// triangulation routines | |
const mrcal_point3_t* v0_local, | |
const mrcal_point3_t* v1_local, | |
const mrcal_point3_t* Rt01); | |
// Minimize L1 angle error. Described in "Closed-Form Optimal Two-View | |
// Triangulation Based on Angular Errors", Seong Hun Lee and Javier Civera. ICCV | |
// 2019. This is the "L1 ang" method in "Triangulation: Why Optimize?", Seong | |
// Hun Lee and Javier Civera. https://arxiv.org/abs/1907.11917 | |
mrcal_point3_t | |
mrcal_triangulate_leecivera_l1(// outputs | |
// These all may be NULL | |
mrcal_point3_t* dm_dv0, | |
mrcal_point3_t* dm_dv1, | |
mrcal_point3_t* dm_dt01, | |
// inputs | |
// not-necessarily normalized vectors in the camera-0 | |
// coord system | |
const mrcal_point3_t* v0, | |
const mrcal_point3_t* v1, | |
const mrcal_point3_t* t01); | |
// Minimize L-infinity angle error. Described in "Closed-Form Optimal Two-View | |
// Triangulation Based on Angular Errors", Seong Hun Lee and Javier Civera. ICCV | |
// 2019. This is the "L-infinity ang" method in "Triangulation: Why Optimize?", | |
// Seong Hun Lee and Javier Civera. https://arxiv.org/abs/1907.11917 | |
mrcal_point3_t | |
mrcal_triangulate_leecivera_linf(// outputs | |
// These all may be NULL | |
mrcal_point3_t* dm_dv0, | |
mrcal_point3_t* dm_dv1, | |
mrcal_point3_t* dm_dt01, | |
// inputs | |
// not-necessarily normalized vectors in the camera-0 | |
// coord system | |
const mrcal_point3_t* v0, | |
const mrcal_point3_t* v1, | |
const mrcal_point3_t* t01); | |
// The "Mid2" method in "Triangulation: Why Optimize?", Seong Hun Lee and Javier | |
// Civera. https://arxiv.org/abs/1907.11917 | |
mrcal_point3_t | |
mrcal_triangulate_leecivera_mid2(// outputs | |
// These all may be NULL | |
mrcal_point3_t* dm_dv0, | |
mrcal_point3_t* dm_dv1, | |
mrcal_point3_t* dm_dt01, | |
// inputs | |
// not-necessarily normalized vectors in the camera-0 | |
// coord system | |
const mrcal_point3_t* v0, | |
const mrcal_point3_t* v1, | |
const mrcal_point3_t* t01); | |
// The "wMid2" method in "Triangulation: Why Optimize?", Seong Hun Lee and Javier | |
// Civera. https://arxiv.org/abs/1907.11917 | |
mrcal_point3_t | |
mrcal_triangulate_leecivera_wmid2(// outputs | |
// These all may be NULL | |
mrcal_point3_t* dm_dv0, | |
mrcal_point3_t* dm_dv1, | |
mrcal_point3_t* dm_dt01, | |
// inputs | |
// not-necessarily normalized vectors in the camera-0 | |
// coord system | |
const mrcal_point3_t* v0, | |
const mrcal_point3_t* v1, | |
const mrcal_point3_t* t01); | |
// I don't implement triangulate_leecivera_l2() yet because it requires | |
// computing an SVD, which is far slower than what the rest of these functions | |
// do |