Rust CV mono-repo. Contains pure-Rust dependencies which attempt to encapsulate the capability of OpenCV, OpenMVG, and vSLAM frameworks in a cohesive set of APIs.
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Sample consensus doesn't give back the correct model #48
When solving the two-view pose using the EightPoint algorithm in sample consensus, the incorrect model is returned. The cheirality check that occurred in EssentialMatrix::solve_pose was removed when EightPoint was changed to return 4 separate poses, which are only checked based on cosine distance, not cheirality. Cheirality must be checked in the code for the CameraToCamera transformation model residual for it to work correctly.
When solving the two-view pose using the EightPoint algorithm in sample consensus, the incorrect model is returned. The cheirality check that occurred in
EssentialMatrix::solve_posewas removed when EightPoint was changed to return 4 separate poses, which are only checked based on cosine distance, not cheirality. Cheirality must be checked in the code for the CameraToCamera transformation model residual for it to work correctly.