colmap::P3PEstimator 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 = 3

Detailed Description

Definition at line 26 of file absolute_pose.h.

Member Typedef Documentation

M_t

typedef Eigen::Matrix3x4d colmap::P3PEstimator::M_t

Definition at line 33 of file absolute_pose.h.

X_t

typedef Eigen::Vector2d colmap::P3PEstimator::X_t

Definition at line 29 of file absolute_pose.h.

Y_t

typedef Eigen::Vector3d colmap::P3PEstimator::Y_t

Definition at line 31 of file absolute_pose.h.

Member Function Documentation

Estimate()

std::vector< P3PEstimator::M_t > colmap::P3PEstimator::Estimate ( const std::vector< X_t > &  points2D, const std::vector< Y_t > &  points3D  )

static

Definition at line 47 of file absolute_pose.cc.

References a, coeffs(), e, colmap::FindPolynomialRootsCompanionMatrix(), x, and y.

Residuals()

void colmap::P3PEstimator::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 176 of file absolute_pose.cc.

References colmap::ComputeSquaredReprojectionError().

Referenced by BOOST_AUTO_TEST_CASE().

Member Data Documentation

kMinNumSamples

const int colmap::P3PEstimator::kMinNumSamples = 3

static

Definition at line 36 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