Add documentation for Two View Estimator #829
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| Two-View Estimator (TVE) takes information about two images and tries to determine their relative pose (how one camera is positioned and oriented with respect to the other one). It also generates correspondences between keypoint in the images. |
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what information? (feature correspondences)
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| Two-View Estimator (TVE) takes information about two images and tries to determine their relative pose (how one camera is positioned and oriented with respect to the other one). It also generates correspondences between keypoint in the images. |
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remove: how one camera is positioned and oriented with respect to the other one
use 3D relative orientation and 3D unit translation (or translation direction) to avoid ambiguity.
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| Two-View Estimator (TVE) takes information about two images and tries to determine their relative pose (how one camera is positioned and oriented with respect to the other one). It also generates correspondences between keypoint in the images. |
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The correspondences are generated in the correspondence_generator, which is outside the two-view estimator. the config mirrors this structure: https://github.com/borglab/gtsfm/blob/master/gtsfm/configs/unified.yaml
| Two-View Estimator (TVE) takes information about two images and tries to determine their relative pose (how one camera is positioned and oriented with respect to the other one). It also generates correspondences between keypoint in the images. | ||
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| As seen in the diagram above, TVE sits between [Correspondence Generator](assets/CORRESPONDENCE_GENERATOR.md) and [Multiview Optimizer](assets/MULTIVIEW_OPTIMIZER.md). TVE does three things in GTSfM: |
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minor nitpick: this can be an unordered list, remove "3 things" as well. I think the exact number depends on how you break it down, and is not important.
| class TwoViewEstimator: | ||
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| """Wrapper for running two-view relative pose estimation on image pairs in the dataset.""" |
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please indent the same way we indent code, helps readability.
Merges into #813