- 15 May, 2020 1 commit
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Roman Shapovalov authored
Summary: lg-zhang found the problem with the quadratic part of ePnP implementation: n262385 . It was caused by a coefficient returned from the linear equation solver being equal to exactly 0.0, which caused `sign()` to return 0, something I had not anticipated. I also made sure we avoid division by zero by clamping all relevant denominators. Reviewed By: nikhilaravi, lg-zhang Differential Revision: D21531200 fbshipit-source-id: 9eb2fa9d4f4f8f5f411d4cf1cffcc44b365b7e51
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- 17 Apr, 2020 1 commit
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Roman Shapovalov authored
Summary: Efficient PnP algorithm to fit 2D to 3D correspondences under perspective assumption. Benchmarked both variants of nullspace and pick one; SVD takes 7 times longer in the 100K points case. Reviewed By: davnov134, gkioxari Differential Revision: D20095754 fbshipit-source-id: 2b4519729630e6373820880272f674829eaed073
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