Add the rotation averager to GLOMAP #113
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glomap/math/gravity.h
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| Eigen::Matrix3d AngleToRotUp(double angle); | ||
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| // Estimate the average gravity direction from a set of gravity directions | ||
| Eigen::Vector3d AverageGravity(std::vector<Eigen::Vector3d>& gravities); |
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Does it make sense to write a few unit tests for this function?
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For average gravity? Or for rotation averaging? For average gravity, I think it is simply some SVD. For the rotation averaging, then I would need to design it a bit :)
| bool use_stratified = true; | ||
| }; | ||
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| class RotationAverager { |
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So, this only solves the gravity aligned rotation averaging problem and is not a general interface for rotation averaging? Why is this a separate, new class? Otherwise, a more specific name would be preferable?
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No, the interface is for both 3DoF RA and 1DoF RA. If gravity direction is not provided, then the original 3DoF will be applied
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Thanks for clarifying. It feels odd that this is a class. Why not just make it a function?
Co-authored-by: Johannes Schönberger <[email protected]>
| // If there is no image pairs with gravity or most image pairs are with | ||
| // gravity, then just run the 3dof version | ||
| bool status = false; | ||
| status = status || grav_pairs == 0; |
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first status is always false so the or condition is superfluous.
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| class RotationAverager { | ||
| public: | ||
| RotationAverager(const RotationAveragerOptions& options) |
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| RotationAverager(const RotationAveragerOptions& options) | |
| explicit RotationAverager(const RotationAveragerOptions& options) |
Co-authored-by: Johannes Schönberger <[email protected]>
Co-authored-by: Johannes Schönberger <[email protected]>
* Fix conversion of colmap pose prior * d * restore the pose prior after rotation averaging * f * f * f * gravity refinement tested * add the stratified rotation averager and CLI * f * d * d * add timer * add options for gravity refinement * merge gravity_io to pose_io * add readme for the rotation averager * f * Update glomap/math/gravity.cc Co-authored-by: Johannes Schönberger <[email protected]> * f * Update glomap/controllers/rotation_averager.cc Co-authored-by: Johannes Schönberger <[email protected]> * Update glomap/controllers/rotation_averager.cc Co-authored-by: Johannes Schönberger <[email protected]> * change rotation averager from class to struct * d * d * add weighting and corresponding IO. Tested * change the writing of relative pose to be sorted * unit test for rotation averager * inject noise to avoid local minima for error-free case * f * add more points in the unit test --------- Co-authored-by: Johannes Schönberger <[email protected]>
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