If you use this code for your research, please cite the following paper:

@inproceedings{Fragoso_2020_CVPR,
author = {Fragoso, Victor and DeGol, Joseph and Hua, Gang},
title = {gDLS*: Generalized Pose-and-Scale Estimation Given Scale and Gravity Priors},
booktitle = {Proc. of the IEEE/CVF Conf. on Computer Vision and Pattern Recognition (CVPR)},
month = {June},
year = {2020}
}

PDF

• CMake [v3.1 or greater] (https://cmake.org/)
• Eigen3 (http://eigen.tuxfamily.org/)
• Glog (https://github.com/google/glog)
• Gflags (https://gflags.github.io/gflags/)

1. Install CMake.
2. Install Eigen3 - this is a C++ header library.
3. Install Gflags.
4. Install Glog.
5. Run cmake to generate building scripts or solutions.
6. Invoke the cmake-generated building scripts (e.g., Makefiles or VS solutions).

1. UnitTest: The project can build unit-tests. To do so, enable the CMake flag BUILD_TESTING.
2. Python bindings: The project can build a python module. To do so, enable the CMake flag BUILD_PYTHON_BINDINGS.

NOTE: When building the optional components, the cmake script will take care of downloading and compiling the dependencies.

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