colmap::EPNPEstimator Class Reference

#include <absolute_pose.h>

Public Types
typedef Eigen::Vector2d	X_t
typedef Eigen::Vector3d	Y_t
typedef Eigen::Matrix3x4d	M_t

Static Public Member Functions
static std::vector< M_t >	Estimate (const std::vector< X_t > &points2D, const std::vector< Y_t > &points3D)
static void	Residuals (const std::vector< X_t > &points2D, const std::vector< Y_t > &points3D, const M_t &proj_matrix, std::vector< double > *residuals)

Static Public Attributes
static const int	kMinNumSamples = 4

Detailed Description

Definition at line 72 of file absolute_pose.h.

Member Typedef Documentation

M_t

typedef Eigen::Matrix3x4d colmap::EPNPEstimator::M_t

Definition at line 79 of file absolute_pose.h.

X_t

typedef Eigen::Vector2d colmap::EPNPEstimator::X_t

Definition at line 75 of file absolute_pose.h.

Y_t

typedef Eigen::Vector3d colmap::EPNPEstimator::Y_t

Definition at line 77 of file absolute_pose.h.

Member Function Documentation

Estimate()

std::vector< EPNPEstimator::M_t > colmap::EPNPEstimator::Estimate ( const std::vector< X_t > &  points2D, const std::vector< Y_t > &  points3D  )

static

Definition at line 183 of file absolute_pose.cc.

Referenced by BOOST_AUTO_TEST_CASE().

Residuals()

void colmap::EPNPEstimator::Residuals ( const std::vector< X_t > &  points2D, const std::vector< Y_t > &  points3D, const M_t &  proj_matrix, std::vector< double > *  residuals  )

static

Definition at line 197 of file absolute_pose.cc.

References colmap::ComputeSquaredReprojectionError().

Referenced by BOOST_AUTO_TEST_CASE().

Member Data Documentation

kMinNumSamples

const int colmap::EPNPEstimator::kMinNumSamples = 4

static

Definition at line 82 of file absolute_pose.h.

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The documentation for this class was generated from the following files:

• /root/ACloudViewer/libs/Reconstruction/src/estimators/absolute_pose.h
• /root/ACloudViewer/libs/Reconstruction/src/estimators/absolute_pose.cc