Cost Functions

pycolmap.cost_functions.ReprojErrorCost(*args, **kwargs)

Overloaded function.

1. ReprojErrorCost(camera_model_id: pycolmap.CameraModelId, point2D: typing.Annotated[numpy.typing.ArrayLike, numpy.float64, "[2, 1]"]) → ceres::CostFunction

Reprojection error.

2. ReprojErrorCost(camera_model_id: pycolmap.CameraModelId, point2D_cov: typing.Annotated[numpy.typing.ArrayLike, numpy.float64, "[2, 2]"], point2D: typing.Annotated[numpy.typing.ArrayLike, numpy.float64, "[2, 1]"]) → ceres::CostFunction

Reprojection error with 2D detection noise.

3. ReprojErrorCost(camera_model_id: pycolmap.CameraModelId, point2D: typing.Annotated[numpy.typing.ArrayLike, numpy.float64, "[2, 1]"], cam_from_world: pycolmap.Rigid3d) → ceres::CostFunction

Reprojection error with constant camera pose.

4. ReprojErrorCost(camera_model_id: pycolmap.CameraModelId, point2D_cov: typing.Annotated[numpy.typing.ArrayLike, numpy.float64, "[2, 2]"], point2D: typing.Annotated[numpy.typing.ArrayLike, numpy.float64, "[2, 1]"], cam_from_world: pycolmap.Rigid3d) → ceres::CostFunction

Reprojection error with constant camera pose and 2D detection noise.

5. ReprojErrorCost(camera_model_id: pycolmap.CameraModelId, point2D: typing.Annotated[numpy.typing.ArrayLike, numpy.float64, "[2, 1]"], point3D: typing.Annotated[numpy.typing.ArrayLike, numpy.float64, "[3, 1]"]) → ceres::CostFunction

Reprojection error with constant 3D point.

6. ReprojErrorCost(camera_model_id: pycolmap.CameraModelId, point2D_cov: typing.Annotated[numpy.typing.ArrayLike, numpy.float64, "[2, 2]"], point2D: typing.Annotated[numpy.typing.ArrayLike, numpy.float64, "[2, 1]"], point3D: typing.Annotated[numpy.typing.ArrayLike, numpy.float64, "[3, 1]"]) → ceres::CostFunction

Reprojection error with constant 3D point and 2D detection noise.

pycolmap.cost_functions.RigReprojErrorCost(*args, **kwargs)

Overloaded function.

1. RigReprojErrorCost(camera_model_id: pycolmap.CameraModelId, point2D: typing.Annotated[numpy.typing.ArrayLike, numpy.float64, "[2, 1]"]) → ceres::CostFunction

Reprojection error for camera rig.

2. RigReprojErrorCost(camera_model_id: pycolmap.CameraModelId, point2D_cov: typing.Annotated[numpy.typing.ArrayLike, numpy.float64, "[2, 2]"], point2D: typing.Annotated[numpy.typing.ArrayLike, numpy.float64, "[2, 1]"]) → ceres::CostFunction

Reprojection error for camera rig with 2D detection noise.

3. RigReprojErrorCost(camera_model_id: pycolmap.CameraModelId, point2D: typing.Annotated[numpy.typing.ArrayLike, numpy.float64, "[2, 1]"], cam_from_rig: pycolmap.Rigid3d) → ceres::CostFunction

Reprojection error for camera rig with constant cam-from-rig pose.

4. RigReprojErrorCost(camera_model_id: pycolmap.CameraModelId, point2D_cov: typing.Annotated[numpy.typing.ArrayLike, numpy.float64, "[2, 2]"], point2D: typing.Annotated[numpy.typing.ArrayLike, numpy.float64, "[2, 1]"], cam_from_rig: pycolmap.Rigid3d) → ceres::CostFunction

Reprojection error for camera rig with constant cam-from-rig pose and 2D detection noise.

pycolmap.cost_functions.SampsonErrorCost(

cam_ray1: Annotated[numpy.typing.ArrayLike, numpy.float64, '[3, 1]'],

cam_ray2: Annotated[numpy.typing.ArrayLike, numpy.float64, '[3, 1]'],

) → ceres::CostFunction

Sampson error for two-view geometry.

pycolmap.cost_functions.AbsolutePosePriorCost(*args, **kwargs)

Overloaded function.

1. AbsolutePosePriorCost(cam_from_world_prior: pycolmap.Rigid3d) → ceres::CostFunction

6-DoF error on the absolute camera pose.

2. AbsolutePosePriorCost(cam_cov_from_world_prior: typing.Annotated[numpy.typing.ArrayLike, numpy.float64, "[6, 6]"], cam_from_world_prior: pycolmap.Rigid3d) → ceres::CostFunction

6-DoF error on the absolute camera pose with prior covariance.

pycolmap.cost_functions.AbsolutePosePositionPriorCost(*args, **kwargs)

Overloaded function.

1. AbsolutePosePositionPriorCost(position_in_world_prior: typing.Annotated[numpy.typing.ArrayLike, numpy.float64, "[3, 1]"]) → ceres::CostFunction

3-DoF error on the absolute camera pose’s position.

2. AbsolutePosePositionPriorCost(position_cov_in_world_prior: typing.Annotated[numpy.typing.ArrayLike, numpy.float64, "[3, 3]"], position_in_world_prior: typing.Annotated[numpy.typing.ArrayLike, numpy.float64, "[3, 1]"]) → ceres::CostFunction

3-DoF error on the absolute camera pose’s position with prior covariance.

pycolmap.cost_functions.RelativePosePriorCost(*args, **kwargs)

Overloaded function.

1. RelativePosePriorCost(i_from_j_prior: pycolmap.Rigid3d) → ceres::CostFunction

6-DoF error between two absolute camera poses based on a prior relative pose.

2. RelativePosePriorCost(i_cov_from_j_prior: typing.Annotated[numpy.typing.ArrayLike, numpy.float64, "[6, 6]"], i_from_j_prior: pycolmap.Rigid3d) → ceres::CostFunction

6-DoF error between two absolute camera poses based on a prior relative pose with prior covariance.

pycolmap.cost_functions.Point3DAlignmentCost(*args, **kwargs)

Overloaded function.

1. Point3DAlignmentCost(point_in_b_prior: typing.Annotated[numpy.typing.ArrayLike, numpy.float64, "[3, 1]"], use_log_scale: bool = True) → ceres::CostFunction

Error between 3D points transformed by a 3D similarity transform.

2. Point3DAlignmentCost(point_cov_in_b_prior: typing.Annotated[numpy.typing.ArrayLike, numpy.float64, "[3, 3]"], point_in_b_prior: typing.Annotated[numpy.typing.ArrayLike, numpy.float64, "[3, 1]"], use_log_scale: bool = True) → ceres::CostFunction

Error between 3D points transformed by a 3D similarity transform. with prior covariance