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colmap::TriangulationEstimator Class Reference

#include <triangulation.h>

Classes

struct  PointData
 
struct  PoseData
 

Public Types

enum class  ResidualType { ANGULAR_ERROR , REPROJECTION_ERROR }
 
typedef PointData X_t
 
typedef PoseData Y_t
 
typedef Eigen::Vector3d M_t
 

Public Member Functions

void SetMinTriAngle (const double min_tri_angle)
 
void SetResidualType (const ResidualType residual_type)
 
std::vector< M_t > Estimate (const std::vector< X_t > &point_data, const std::vector< Y_t > &pose_data) const
 
void Residuals (const std::vector< X_t > &point_data, const std::vector< Y_t > &pose_data, const M_t &xyz, std::vector< double > *residuals) const
 

Static Public Attributes

static const int kMinNumSamples = 2
 

Detailed Description

Definition at line 28 of file triangulation.h.

Member Typedef Documentation

◆ M_t

typedef Eigen::Vector3d colmap::TriangulationEstimator::M_t

Definition at line 63 of file triangulation.h.

◆ X_t

typedef PointData colmap::TriangulationEstimator::X_t

Definition at line 61 of file triangulation.h.

◆ Y_t

typedef PoseData colmap::TriangulationEstimator::Y_t

Definition at line 62 of file triangulation.h.

Member Enumeration Documentation

◆ ResidualType

enum colmap::TriangulationEstimator::ResidualType
strong
Enumerator
ANGULAR_ERROR 
REPROJECTION_ERROR 

Definition at line 30 of file triangulation.h.

Member Function Documentation

◆ Estimate()

std::vector< TriangulationEstimator::M_t > colmap::TriangulationEstimator::Estimate ( const std::vector< X_t > &  point_data,
const std::vector< Y_t > &  pose_data 
) const

Definition at line 55 of file triangulation.cc.

References colmap::CalculateTriangulationAngle(), colmap::HasPointPositiveDepth(), points, colmap::TriangulateMultiViewPoint(), and colmap::TriangulatePoint().

◆ Residuals()

void colmap::TriangulationEstimator::Residuals ( const std::vector< X_t > &  point_data,
const std::vector< Y_t > &  pose_data,
const M_t &  xyz,
std::vector< double > *  residuals 
) const

Definition at line 111 of file triangulation.cc.

References ANGULAR_ERROR, colmap::CalculateNormalizedAngularError(), colmap::CalculateSquaredReprojectionError(), and REPROJECTION_ERROR.

◆ SetMinTriAngle()

void colmap::TriangulationEstimator::SetMinTriAngle ( const double  min_tri_angle)

Definition at line 46 of file triangulation.cc.

◆ SetResidualType()

void colmap::TriangulationEstimator::SetResidualType ( const ResidualType  residual_type)

Definition at line 51 of file triangulation.cc.

Member Data Documentation

◆ kMinNumSamples

const int colmap::TriangulationEstimator::kMinNumSamples = 2
static

Definition at line 70 of file triangulation.h.

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