Add the rotation averager to GLOMAP #113
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glomap/math/gravity.h
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| @@ -14,4 +14,7 @@ double RotUpToAngle(const Eigen::Matrix3d& R_up); | |||
| // Get the upright rotation matrix from a rotation angle | |||
| 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]>
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