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colmap::GR6PEstimator Class Reference

#include <generalized_relative_pose.h>

Classes

struct  X_t
 

Public Types

typedef X_t Y_t
 
typedef Eigen::Matrix3x4d 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 &proj_matrix, std::vector< double > *residuals)
 

Static Public Attributes

static const int kMinNumSamples = 8
 

Detailed Description

Definition at line 29 of file generalized_relative_pose.h.

Member Typedef Documentation

◆ M_t

typedef Eigen::Matrix3x4d colmap::GR6PEstimator::M_t

Definition at line 45 of file generalized_relative_pose.h.

◆ Y_t

typedef X_t colmap::GR6PEstimator::Y_t

Definition at line 43 of file generalized_relative_pose.h.

Member Function Documentation

◆ Estimate()

std::vector< GR6PEstimator::M_t > colmap::GR6PEstimator::Estimate ( const std::vector< X_t > &  points1,
const std::vector< Y_t > &  points2 
)
static

Definition at line 396 of file generalized_relative_pose.cc.

References rotation.

◆ Residuals()

void colmap::GR6PEstimator::Residuals ( const std::vector< X_t > &  points1,
const std::vector< Y_t > &  points2,
const M_t &  proj_matrix,
std::vector< double > *  residuals 
)
static

Definition at line 588 of file generalized_relative_pose.cc.

References colmap::EssentialMatrixFromPose(), and t12.

Referenced by BOOST_AUTO_TEST_CASE().

Member Data Documentation

◆ kMinNumSamples

const int colmap::GR6PEstimator::kMinNumSamples = 8
static

Definition at line 50 of file generalized_relative_pose.h.

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