OpenGV + covariances + MLPnP #26
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removed boost include included <memory> for std::shared_ptr
added rodrigues.hpp and rodrigues.cpp
https://github.com/jonathanventura/multi-camera-motion Jonathan Ventura, Clemens Arth and Vincent Lepetit. An efficient minimal solution for multi-camera motion. International Conference on Computer Vision (ICCV), 2015. Santiago, Chile.
ventura's 6pt algorithm will only work for small rotations
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Hi Laurent,
I integrated a new PnP solver to OpenGV that is called MLPnP (Maximum Likelihood PnP).
As image measurement covariances can be integrated I had to extend the absolute pose adapters with a few variables and methods.
In addition I updated the Matlab wrapper and added MLPnP to the test functions.
It would be cool if you could have a look at it and tell me what you think.
Cheers
Steffen