MAINT: add global translation minimal solver.

cpp/src/DO/Sara/MultiViewGeometry/MinimalSolvers/AbsoluteTranslationSolver.hpp

@@ -0,0 +1,56 @@
+// ========================================================================== //
+// This file is part of Sara, a basic set of libraries in C++ for computer
+// vision.
+//
+// Copyright (C) 2024-present David Ok <[email protected]>
+//
+// This Source Code Form is subject to the terms of the Mozilla Public
+// License v. 2.0. If a copy of the MPL was not distributed with this file,
+// you can obtain one at http://mozilla.org/MPL/2.0/.
+// ========================================================================== //
+
+#pragma once
+
+#include <Eigen/Dense>
+#include <Eigen/Eigen>
+
+
+namespace DO::Sara {
+
+  //! @brief Two-point solver that solves the absolute translation given a known
+  //!        absolute rotaton.
+  //!
+  //! Turns out to be very basic...
+  template <typename T>
+  struct AbsoluteTranslationSolver
+  {
+    static constexpr auto num_points = 2;
+    static constexpr auto num_models = 1;
+
+    using model_type = Eigen::Vector3<T>;
+
+    //! @brief Inputs are rotated world scene points and the backprojected rays.
+    auto operator()(const Eigen::Matrix<T, 3, 2>& Rx,
+                    const Eigen::Matrix<T, 3, 2>& y) const -> model_type
+    {
+      const auto x0 = Rx.col(0);
+      const auto x1 = Rx.col(1);
+      const auto y0 = y.col(0);
+      const auto y1 = y.col(1);
+
+      static const auto I3 = Eigen::Matrix3<T>::Identity();
+      static const auto O3 = Eigen::Vector3<T>::Zero();
+
+      auto A = Eigen::Matrix<T, 6, 5>{};
+      A.template topRows<3>() << I3, y0, O3;
+      A.template bottomRows<3>() << I3, O3, y1;
+
+      auto b = Eigen::Vector<T, 6>{};
+      b << x0, x1;
+
+      return A.template colPivHouseholderQr().solve(b);
+    }
+  };
+
+}  // namespace DO::Sara
+#pragma once

cpp/src/DO/Sara/MultiViewGeometry/MinimalSolvers/SevenPointAlgorithm.cpp

@@ -1,3 +1,14 @@
+// ========================================================================== //
+// This file is part of Sara, a basic set of libraries in C++ for computer
+// vision.
+//
+// Copyright (C) 2024-present David Ok <[email protected]>
+//
+// This Source Code Form is subject to the terms of the Mozilla Public
+// License v. 2.0. If a copy of the MPL was not distributed with this file,
+// you can obtain one at http://mozilla.org/MPL/2.0/.
+// ========================================================================== //
+
 #include <DO/Sara/MultiViewGeometry/MinimalSolvers/SevenPointAlgorithm.hpp>
 
 

cpp/src/DO/Sara/MultiViewGeometry/MinimalSolvers/SevenPointAlgorithm.hpp

@@ -1,3 +1,14 @@
+// ========================================================================== //
+// This file is part of Sara, a basic set of libraries in C++ for computer
+// vision.
+//
+// Copyright (C) 2024-present David Ok <[email protected]>
+//
+// This Source Code Form is subject to the terms of the Mozilla Public
+// License v. 2.0. If a copy of the MPL was not distributed with this file,
+// you can obtain one at http://mozilla.org/MPL/2.0/.
+// ========================================================================== //
+
 #pragma once
 
 #include <DO/Sara/Defines.hpp>