{"action":"created","issue":{"url":"https://api.github.com/repos/openMVG/openMVG/issues/1133","repository_url":"https://api.github.com/repos/openMVG/openMVG","labels_url":"https://api.github.com/repos/openMVG/openMVG/issues/1133/labels{/name}","comments_url":"https://api.github.com/repos/openMVG/openMVG/issues/1133/comments","events_url":"https://api.github.com/repos/openMVG/openMVG/issues/1133/events","html_url":"https://github.com/openMVG/openMVG/issues/1133","id":271213991,"number":1133,"title":"Update to use bearing vector instead of point 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OpenMVG to use bearing vectors (directional feature ray) rather than feature point positions.\r\n\r\nThis update bring plenty of novelties:\r\n\r\n[cameras]\r\n- Fix a sign error in the Spherical model (reconstruction was flipped along the X axis)\r\n- Update some the bearing vector computation function to deal with matrices instead of vector (ability to handle many point at once)\r\n    \r\n[multiview] Update multiview relative pose computation module to use bearing vectors\r\n  - multiview::MotionFromEssential exports now Poses instead of [R|t] couples (less object to manipulate).\r\n  - update fundamental::kernel::EncodeEpipolarEquation to use bearing vectors.\r\n  - Code factorization for fundamental::kernel::EncodeEpipolarEquation.\r\n  - Update the FivePoint relative pose estimation to use bearing vectors.\r\n  - Update some multiview function to use Mat2X or Mat3X instead of Mat in order to have a more explicit API.\r\n- estimate_Rt_fromE => RelativePoseFromEssential\r\n    \r\n[sfm]\r\n- Update triangulation routines in order to use bearing vector and camera poses.\r\n- TriangulateNViewAlgebraic is faster than before (reduced size of the A matrix)\r\n    \r\n[samples]\r\n - Update the samples robust_essential_spherical to use either the 8point or the 5point essential algorithm to compute the essential matrix.\r\n    \r\n[misc.]\r\n- Essential matrix ACKernelAdaptorEssential uses FivePointSolver instead of FivePointKernel.\r\n\r\n**The main outcome of this is a more expressive API and the fact that now Incremental SfM can be performed with spherical images!**\r\n"},"comment":{"url":"https://api.github.com/repos/openMVG/openMVG/issues/comments/350144565","html_url":"https://github.com/openMVG/openMVG/issues/1133#issuecomment-350144565","issue_url":"https://api.github.com/repos/openMVG/openMVG/issues/1133","id":350144565,"user":{"login":"happyfrank","id":12987532,"avatar_url":"https://avatars0.githubusercontent.com/u/12987532?v=4","gravatar_id":"","url":"https://api.github.com/users/happyfrank","html_url":"https://github.com/happyfrank","followers_url":"https://api.github.com/users/happyfrank/followers","following_url":"https://api.github.com/users/happyfrank/following{/other_user}","gists_url":"https://api.github.com/users/happyfrank/gists{/gist_id}","starred_url":"https://api.github.com/users/happyfrank/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/happyfrank/subscriptions","organizations_url":"https://api.github.com/users/happyfrank/orgs","repos_url":"https://api.github.com/users/happyfrank/repos","events_url":"https://api.github.com/users/happyfrank/events{/privacy}","received_events_url":"https://api.github.com/users/happyfrank/received_events","type":"User","site_admin":false},"created_at":"2017-12-08T01:22:06Z","updated_at":"2017-12-08T01:22:06Z","author_association":"NONE","body":"Hello,  @pmoulon When OpenMVG v1.3 gonna release? We are very looking forward to seeing it. ^v^"}}
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