pose.cc File Reference

#include "estimators/pose.h"
#include "base/camera_models.h"
#include "base/cost_functions.h"
#include "base/essential_matrix.h"
#include "base/pose.h"
#include "estimators/absolute_pose.h"
#include "estimators/essential_matrix.h"
#include "optim/bundle_adjustment.h"
#include "util/matrix.h"
#include "util/misc.h"
#include "util/threading.h"

Include dependency graph for pose.cc:

Go to the source code of this file.

Namespaces
	colmap

Macros
#define	CAMERA_MODEL_CASE(CameraModel)

Functions
bool	colmap::EstimateAbsolutePose (const AbsolutePoseEstimationOptions &options, const std::vector< Eigen::Vector2d > &points2D, const std::vector< Eigen::Vector3d > &points3D, Eigen::Vector4d *qvec, Eigen::Vector3d *tvec, Camera *camera, size_t *num_inliers, std::vector< char > *inlier_mask)
size_t	colmap::EstimateRelativePose (const RANSACOptions &ransac_options, const std::vector< Eigen::Vector2d > &points1, const std::vector< Eigen::Vector2d > &points2, Eigen::Vector4d *qvec, Eigen::Vector3d *tvec)
bool	colmap::RefineAbsolutePose (const AbsolutePoseRefinementOptions &options, const std::vector< char > &inlier_mask, const std::vector< Eigen::Vector2d > &points2D, const std::vector< Eigen::Vector3d > &points3D, Eigen::Vector4d *qvec, Eigen::Vector3d *tvec, Camera *camera)
bool	colmap::RefineRelativePose (const ceres::Solver::Options &options, const std::vector< Eigen::Vector2d > &points1, const std::vector< Eigen::Vector2d > &points2, Eigen::Vector4d *qvec, Eigen::Vector3d *tvec)

Macro Definition Documentation

CAMERA_MODEL_CASE

#define CAMERA_MODEL_CASE

(

CameraModel

)

Value:

    case CameraModel::kModelId:                                            \
        cost_function = BundleAdjustmentCostFunction<CameraModel>::Create( \
                points2D[i]);                                              \
        break;