gabmoreira / maks Goto Github PK

hi,
can u advise how to debug with visual studio code?

Hi,
First of all thanks for the code, I've tested it out, it seems to work well. I've used it to estimate global rotation and translation (which would map a 3d coordinate from world to cam) from relative rotation/translation(which would map a point from image 1 to image2) of image pairs (estimated from epipolar geometry) I've had to invert the relative Rigid body transformation before converting it into the g2ofile and passing it as an input to maks to get global transformations which seem to be very reasonable.

I was wondering if you could share the paper as and when it becomes available, or any other resource which would help me better understand how the pose-graph optimization is being done.

Thanks again.

Hi. Nice work!

Could you tell me which part in the code you implemented IRLS you described in the paper?

I was looking for it, but couldn't find it.

Hello,
thank you for making your code public it's indeed the fastest rotation averaging method I know.
I have a small question regarding the use of MKL solver vs. Eigen solver.
I have adapted your code by replacing PardisoLDLT solver by what I think is an Eigen equivalent (Eigen::SimplicalLDLT). Eigen solver is ok on small size datasets. But apart for the speed difference (MKL solver if of course faster) I notice your code with Eigen solver plugin in produce wrong results on some medium to big datasets (lot of rotations putted at identity). So my questions are : have you already tested your code with Eigen solvers ? Have you choosen Pardiso only for speed or are there some accuracy difference ? is there anything that need to be tuned to make it work with Eigen ?
thank in advance !