Helper functions

Compute inliers for absolute pose estimation (using reprojection error and cheirality check)

Interface for calibrated camera

Draws a random sample

computes J.transpose() * J and J.transpose() * res Only computes the lower half of JtJ

Returns MSAC score

Returns MSAC score of the Sampson error (checks cheirality of points as well)

Solves the quadratic equation a*x^2 + b*x + c = 0 */

a, b are first order polys [x,y,z,1] c is degree 2 poly with order [ x^2, x*y, x*z, x, y^2, y*z, y, z^2, z, 1]

Performs a few newton steps on the equations

Interface for calibrated camera

Solves for camera pose such that: p+lambda*x = R*X+t

Multiplies a deg 2 poly with a deg 2 poly

Multiplies a deg 2 poly with a deg 2 poly and subtracts it from c

Multiplies a deg 2 poly with a deg 4 poly and adds it to c

Solves the quartic equation x^4 + b*x^3 + c*x^2 + d*x + e = 0 */

Computes polynomial p(x) = det(x^2*I + x * A + B)

Computes polynomial p(x) = det(x^2*I + x * A + B)

Solves for camera pose such that: p+lambda*x = R*X+t Note: This function assumes that the bearing vectors (x) are normalized!

Solves for camera pose such that: scale*p+lambda*x = R*X+t Assumes that X[0] == X[1] !

Solves for camera pose such that: scale*p+lambda*x = R*X+t

a is second degree poly with order [ x^2, x*y, x*z, x, y^2, y*z, y, z^2, z, 1] b is first degree with order [x y z 1] c is third degree with order (sa

* Order of coefficients is: x^2, xy, xz, y^2, yz, z^2, x, y, z, 1.0; * */

Update the camera parameters such that the projections are rescaled