A Tighter Relaxation for the Relative Pose Problem Between Cameras

Convex relaxtions for the relative pose problem between two calibrated cameras. Refer to our paper HERE for more information.

Authors: Mercedes Garcia-Salguero, Jesus Briales, Javier Gonzalez-Jimenez

License: GNUv3

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

@ARTICLE{,
    author = {Garcia-Salguero, Mercedes and Briales, Jesus and Gonzalez-Jimenez, Javier},
     month = {April},
     title = {A Tighter Relaxation for the Relative Pose Problem Between Cameras},
   journal = {Journal of Mathematical Imaging and Vision},
    volume = {},
    number = {},
      year = {2022},
       url = {https://link.springer.com/article/10.1007/s10851-022-01085-z},
       doi = {10.1007/s10851-022-01085-z},
     pages = {}
}

Dependencies

The solvers require SDPA.

SDPA: web: http://sdpa.sourceforge.net Download: http://sdpa.sourceforge.net/download.html#sdpa

Build

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

mkdir build & cd build 

cmake .. 

make -jX

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

        ./bin/example_base

Launch experiments (tests)

cpulimit -l 45 ./../../build/bin/generic_test

Note: the experiments output several files. We suggest to run them on a different folder.