Shuaiwang0/epipolar #303
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Shuaiwang0/epipolar #303
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Signed-off-by: shuaiwang0 <118131888+shuaiwang0@users.noreply.github.com>
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wang-chen
reviewed
Dec 31, 2024
Comment on lines
+142
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+150
| unique_seq =[] | ||
| for i in range(iterations): | ||
| if len(torch.unique(samples[i])) == num_of_select: | ||
| unique_seq.append(i) | ||
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| if len(unique_seq) == 0: | ||
| raise Exception("Unique check alert! Please reduce the number of select or increase the number of iterations!") | ||
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| samples = samples[torch.tensor(unique_seq)] |
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this can be implemented using torch.randperm in one line.
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New features about the estimation of essential matrix and triangulation are implemented. Besides, it also contains the function that extracts the camera's pose from essential matrix E.