Wrapper for relative pose with non-upright gravity #124
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pablospe
approved these changes
Dec 14, 2024
| @@ -41,6 +41,11 @@ namespace poselib { | |||
| // Y. Ding, J. Yang, V. Larsson, C. Olsson, K. Åström, Revisiting the P3P Problem, CVPR 2023 | |||
| int relpose_upright_3pt(const std::vector<Eigen::Vector3d> &x1, const std::vector<Eigen::Vector3d> &x2, | |||
| CameraPoseVector *output); | |||
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| // Wrapper for non-upright gravity (g_cam = R*g_world) | |||
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Maybe you could clarify in the comment which one is the g in world? (g_cam1 or g_cam2). Such it is possible to understand without looking at the implementation.
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Neither is g in world. They are the gravity in both camera frames. I think g in world is not needed in this relative pose setup as we only need to rotate the two frames to a frame with consistent "upright" vector, in this case [0 1 0]. I have updated the comment to avoid confusion.
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