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Add RefineGeneralizedAbsolutePose and covariance estimation #1464

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Merged
ahojnnes merged 6 commits into from
Mar 17, 2022
Merged

Add RefineGeneralizedAbsolutePose and covariance estimation #1464

ahojnnes merged 6 commits into from
Mar 17, 2022

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@sarlinpe sarlinpe commented Mar 16, 2022 •
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  • Refine the absolute pose of camera rigs with RefineGeneralizedAbsolutePose`
  • Estimate the 6x6 covariance matrix of (qvec, tvec) for single and rig pose refinement
  • The code is clang-formatted
  • Cleaner interface than Modify RefineAbsolutePose to return covariance #1234

@sarlinpe sarlinpe mentioned this pull request Mar 16, 2022
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ahojnnes
ahojnnes reviewed Mar 17, 2022
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@ahojnnes ahojnnes merged commit 33e2692 into colmap:dev Mar 17, 2022
lucasthahn pushed a commit to tne-ai/colmap that referenced this pull request Aug 17, 2022
@skydes @lucasthahn
Add RefineGeneralizedAbsolutePose and covariance estimation (colmap#1464
5e14456 
)

* Add RefineGeneralizedAbsolutePose

* Add covariance estimation after refinement

* Bugfix

* Minor fixes

* Clarify tangent space

* Change variable name, add comment
@sarlinpe sarlinpe deleted the refine-generalize branch February 8, 2024 14:52
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@sarlinpe @ahojnnes