OpenGV 视觉几何问题开源库 geometric vision problems

代码

目录：

计算相机绝对位姿 Absolute camera pose computation:

    1. absolute pose computation with known rotation
    2. two P3P-algorithms (Kneip, Gao)
    3. generalized P3P
    4. the EPnP algorithm by Lepetit and Fua
    5. an extension of the EPnP algorithm to the non-central case (Kneip)
    6. the generalized absolute pose solver presented at ICRA 2013 (Kneip)
    7. non-linear optimization over n correspondences (both central and non-central)
    8. the UPnP algorithm presented at ECCV 2014 (both central and non-central, and minimal and non-minimal)

计算相机相对位姿 Relative camera-pose computation:

    1. 2-point algorithm for computing the translation with known relative rotation
    2. 2-point algorithm for deriving the rotation in a pure-rotation situation
    3. n-point algorithm for deriving the rotation in a pure-rotation situation
    4. 5-point algorithm by Stewenius
    5. 5-point algorithm by Nister
    6. 5-point algorithm to solve for rotations directly (by Kneip)
    7. 7-point algorithm
    8. 8-point algorithm by Longuet-Higgins
    9. 6-point algorithm by Henrik Stewenius for generalized relative pose
    10. 17-point algorithm by Hongdong Li
    11. non-linear optimization over n correspondences (both central and non-central)
    11. relative rotation as an iterative eigenproblem (by Kneip)
    12. generalized reltive rotation for multi-camera systems as an iterative eigenproblem (by Kneip)

Two methods for point-triangulation 三角化

Arun's method for aligning point clouds 点云配准

Generic sample-consensus problems for most algorithms useable with Ransac 随机采样序列

Math tools:

    Generic Sturm-sequence implementation for numerical root-finding
    Algebraic root finding
    Cayley rotations
Unit/Benchmarking tests for all algorithms
Matlab interface
Python interface