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Recover pose from different cameras (version 2)#20636

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alalek merged 4 commits intoopencv:masterfrom
thezane:recoverPoseFromDifferentCameras
Sep 25, 2021
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Recover pose from different cameras (version 2)#20636
alalek merged 4 commits intoopencv:masterfrom
thezane:recoverPoseFromDifferentCameras

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@thezane thezane commented Aug 31, 2021 •
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Finish PR from #17981, which creates a new api for computing pose from different cameras.

The original author and commit is preserved. I got the go-ahead from a maintainer to finish the original PR: #17981 (comment)

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  • I agree to contribute to the project under Apache 2 License.
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    Patch to opencv_extra has the same branch name.
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@thezane thezane changed the title Recover pose from different cameras Recover pose from different cameras (version 2) Aug 31, 2021
thezane
thezane commented Sep 1, 2021
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modules/calib3d/test/test_cameracalibration.cpp

// Estimation of fundamental matrix using the RANSAC algorithm
Mat E, E2, E3, R, t;
Mat E, E2, R, t;
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@thezane thezane Sep 1, 2021

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I'm checking the different camera case first as the same camera case modifies the points input.

@thezane thezane marked this pull request as ready for review September 1, 2021 01:09
alalek
alalek reviewed Sep 3, 2021
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@thezane thezane force-pushed the recoverPoseFromDifferentCameras branch 4 times, most recently from 3288274 to ad08dbe Compare September 6, 2021 04:10
@thezane thezane force-pushed the recoverPoseFromDifferentCameras branch from ad08dbe to ea00e10 Compare September 12, 2021 19:16
thezane
thezane commented Sep 12, 2021
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thezane commented Sep 12, 2021

@alalek Thanks for your detailed review and appreciate your patience.

I addressed the comments. Specifically, the latest changes ensure:
(1) The new recoverPose API only executes undistortPoints on each input points once.
(2) Existing API and functionality is preserved.

Please let me know of any other concerns.

@thezane thezane force-pushed the recoverPoseFromDifferentCameras branch from ea00e10 to beb3a98 Compare September 12, 2021 20:03
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thezane commented Sep 24, 2021

@alalek @asmorkalov Gentle reminder about this PR. It's been 2 weeks since I addressed concerns raised from the previous review. Is there anything else that should be addressed?

@asmorkalov asmorkalov self-requested a review September 24, 2021 12:01
asmorkalov
asmorkalov approved these changes Sep 24, 2021
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👍 Well Done!

alalek
alalek reviewed Sep 24, 2021
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@thezane thezane force-pushed the recoverPoseFromDifferentCameras branch from beb3a98 to 91e72e4 Compare September 25, 2021 04:36
@alalek alalek merged commit 9e835e8 into opencv:master Sep 25, 2021
@alalek alalek mentioned this pull request Oct 15, 2021
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@thezane thezane deleted the recoverPoseFromDifferentCameras branch October 16, 2021 22:34
a-sajjad72 pushed a commit to a-sajjad72/opencv that referenced this pull request Mar 30, 2023
@thezane @tompollok
Merge pull request opencv#20636 from thezane:recoverPoseFromDifferent…
338155d 
…Cameras

Recover pose from different cameras (version 2)

* add recoverPose for two different cameras

* Address review comments from original PR

* Address new review comments

* Rename private api

Co-authored-by: tompollok <tom.pollok@gmail.com>
Co-authored-by: Zane <zane.huang@mail.utoronto.ca>
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@asmorkalov asmorkalov asmorkalov approved these changes

@alalek alalek alalek approved these changes

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