Certifiable solver for real-time N-view triangulation

---

This repository contains the code for the fast N-view triangulation solver explained in this paper.

Authors: Mercedes Garcia-Salguero, Javier Gonzalez-Jimenez

License: GPLv3

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

@ARTICLE{,
    author = {Garcia-Salguero, Mercedes and Gonzalez-Jimenez, Javier},
     month = {{{{feb}}}},
     title = {Certifiable solver for real-time N-view triangulation},
   journal = {IEEE Robotics and Automation Letters},
      year = {2023},
      issn = {2377-3766},
       url = {http://mapir.isa.uma.es/papersrepo/2023/2023_mercedes_RAL_Nview_triangulation_paper.pdf},
       doi = {10.1109/LRA.2023.3245408}
}

Dependencies

• Eigen
• Ceres

Note: Ceres is used in the example and test. You can remove that part and thus the dependency.

Build

git clone https://github.com/mergarsal/FastNViewTriangulation.git
cd FastNViewTriangulation

mkdir build & cd build 

cmake .. 

make -jX

The compiled examples should be inside the bin directory. Run:

        ./bin/example_base

Install

In build folder:

        sudo make install

We also provide the uninstall script:

        sudo make uninstall

Use in external project

1. Install our library with

sudo make install 

2. In your project, find the library.

find_package(NViewsTrian REQUIRED)

3. Include the library as target, e.g.,

add_executable(example_base ${CMAKE_CURRENT_SOURCE_DIR}/example_base.cpp)

target_link_libraries(example_base 
                              NViewsTrian      
                     )