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Public Types | Static Public Member Functions | Static Public Attributes | List of all members
colmap::EssentialMatrixFivePointEstimator Class Reference

#include <essential_matrix.h>

Public Types

typedef Eigen::Vector2d X_t
 
typedef Eigen::Vector2d Y_t
 
typedef Eigen::Matrix3d M_t
 

Static Public Member Functions

static std::vector< M_t > Estimate (const std::vector< X_t > &points1, const std::vector< Y_t > &points2)
 
static void Residuals (const std::vector< X_t > &points1, const std::vector< Y_t > &points2, const M_t &E, std::vector< double > *residuals)
 

Static Public Attributes

static const int kMinNumSamples = 5
 

Detailed Description

Definition at line 27 of file essential_matrix.h.

Member Typedef Documentation

◆ M_t

typedef Eigen::Matrix3d colmap::EssentialMatrixFivePointEstimator::M_t

Definition at line 31 of file essential_matrix.h.

◆ X_t

typedef Eigen::Vector2d colmap::EssentialMatrixFivePointEstimator::X_t

Definition at line 29 of file essential_matrix.h.

◆ Y_t

typedef Eigen::Vector2d colmap::EssentialMatrixFivePointEstimator::Y_t

Definition at line 30 of file essential_matrix.h.

Member Function Documentation

◆ Estimate()

std::vector< EssentialMatrixFivePointEstimator::M_t > colmap::EssentialMatrixFivePointEstimator::Estimate ( const std::vector< X_t > &  points1,
const std::vector< Y_t > &  points2 
)
static

Definition at line 48 of file essential_matrix.cc.

References coeffs(), e, colmap::FindPolynomialRootsCompanionMatrix(), and X.

◆ Residuals()

void colmap::EssentialMatrixFivePointEstimator::Residuals ( const std::vector< X_t > &  points1,
const std::vector< Y_t > &  points2,
const M_t &  E,
std::vector< double > *  residuals 
)
static

Definition at line 153 of file essential_matrix.cc.

References colmap::ComputeSquaredSampsonError().

Referenced by BOOST_AUTO_TEST_CASE().

Member Data Documentation

◆ kMinNumSamples

const int colmap::EssentialMatrixFivePointEstimator::kMinNumSamples = 5
static

Definition at line 34 of file essential_matrix.h.

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