Certifiable solver for the relative pose problem based on homographies with known gravity vector

This repository contains the code for the XXXXX for the paper [1].

Authors: Mercedes Garcia-Salguero, Javier Gonzalez-Jimenez

License: GPLv3

If you use this code for your research, please cite:

xxx

The generic certifier can be found in

https://github.com/mergarsal/QCQPIterCertifier

Dependences

• Eigen

       sudo apt install libeigen3-dev

• Optimization (own fork)

       git clone https://github.com/mergarsal/Optimization.git

• Iterative certifier

    git clone https://github.com/mergarsal/QCQPIterCertifier.git

Build

git clone --recursive https://github.com/mergarsal/CertHPrior.git
cd GNCSO

mkdir build & cd build 

cmake .. 

make -jX

Exmaples are found in bin folder. For example:

        ./bin/example_basic_plane