xxlxsyhl/pnpsolver

Simplified COLMAP PnP Solver with weighted-RANSAC PnP Solver Support.

PnP Solver

Simplified COLMAP PnP Solver with weight PnP Solver Support.

About

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We have simplified COLMAP project and keeping only the PnP Solver parts. Then enhence the project with weighted PnP Solver.

Dependencies

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• C++11
• CMake is a cross platform build system.
• Eigen3 is used extensively for doing nearly all the matrix and linear algebra operations.
• Ceres Solver is a library for solving non-linear least squares problems.
• Glog is used for error checking and logging.
• Boost is used for filesystem operation and unit testing.

Install

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mkdir build && cd build
cmake .. && make -j4
sudo make install

Acknowledgements

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The Backbone of PnP Solver is based on COLMAP

@inproceedings{schoenberger2016sfm,
    author={Sch\"{o}nberger, Johannes Lutz and Frahm, Jan-Michael},
    title={Structure-from-Motion Revisited},
    booktitle={Conference on Computer Vision and Pattern Recognition (CVPR)},
    year={2016},
}

Licence

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Copyright (c) 2021, ZJU and SenseTime 
All rights reserved. 

Redistribution and use in source and binary forms, with or without 
modification, are permitted provided that the following conditions are met: 

* Redistributions of source code must retain the above copyright notice, 
this list of conditions and the following disclaimer. 

* Redistributions in binary form must reproduce the above copyright 
notice, this list of conditions and the following disclaimer in the 
documentation and/or other materials provided with the distribution. 

* Neither the name of ZJU and SenseTime nor the names of its contributors 
may be used to endorse or promote products derived from this software 
without specific prior written permission. 

THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 
AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 
IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 
ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE 
LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 
CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 
SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 
INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 
CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 
ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 
POSSIBILITY OF SUCH DAMAGE.