colmap::GP3PEstimator Class Reference

#include <generalized_absolute_pose.h>

Classes
struct	X_t

Public Types
enum class	ResidualType { CosineDistance , ReprojectionError }
typedef Eigen::Vector3d	Y_t
typedef Eigen::Matrix3x4d	M_t

Public Member Functions
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 Member Functions
static std::vector< M_t >	Estimate (const std::vector< X_t > &points2D, const std::vector< Y_t > &points3D)

Public Attributes
ResidualType	residual_type = ResidualType::CosineDistance

Static Public Attributes
static const int	kMinNumSamples = 3

Detailed Description

Definition at line 25 of file generalized_absolute_pose.h.

Member Typedef Documentation

M_t

typedef Eigen::Matrix3x4d colmap::GP3PEstimator::M_t

Definition at line 41 of file generalized_absolute_pose.h.

Y_t

typedef Eigen::Vector3d colmap::GP3PEstimator::Y_t

Definition at line 39 of file generalized_absolute_pose.h.

Member Enumeration Documentation

ResidualType

enum colmap::GP3PEstimator::ResidualType

strong

Enumerator
CosineDistance
ReprojectionError

Definition at line 46 of file generalized_absolute_pose.h.

Member Function Documentation

Estimate()

std::vector< GP3PEstimator::M_t > colmap::GP3PEstimator::Estimate ( const std::vector< X_t > &  points2D, const std::vector< Y_t > &  points3D  )

static

Definition at line 211 of file generalized_absolute_pose.cc.

Residuals()

void colmap::GP3PEstimator::Residuals	(	const std::vector< X_t > &	points2D,
		const std::vector< Y_t > &	points3D,
		const M_t &	proj_matrix,
		std::vector< double > *	residuals
	)

Definition at line 267 of file generalized_absolute_pose.cc.

References CosineDistance, ReprojectionError, and residual_type.

Member Data Documentation

kMinNumSamples

const int colmap::GP3PEstimator::kMinNumSamples = 3

static

Definition at line 44 of file generalized_absolute_pose.h.

residual_type

ResidualType colmap::GP3PEstimator::residual_type = ResidualType::CosineDistance

Definition at line 56 of file generalized_absolute_pose.h.

Referenced by Residuals().

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

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