Cost Functions

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

Overloaded function.

  1. ReprojErrorCost(camera_model_id: pycolmap.CameraModelId, point2D: numpy.ndarray[numpy.float64[2, 1]]) → pyceres.CostFunction

Reprojection error.

  1. ReprojErrorCost(camera_model_id: pycolmap.CameraModelId, point2D_cov: numpy.ndarray[numpy.float64[2, 2]], point2D: numpy.ndarray[numpy.float64[2, 1]]) → pyceres.CostFunction

Reprojection error with 2D detection noise.

  1. ReprojErrorCost(camera_model_id: pycolmap.CameraModelId, point2D: numpy.ndarray[numpy.float64[2, 1]], cam_from_world: pycolmap.Rigid3d) → pyceres.CostFunction

Reprojection error with constant camera pose.

  1. ReprojErrorCost(camera_model_id: pycolmap.CameraModelId, point2D_cov: numpy.ndarray[numpy.float64[2, 2]], point2D: numpy.ndarray[numpy.float64[2, 1]], cam_from_world: pycolmap.Rigid3d) → pyceres.CostFunction

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

  1. ReprojErrorCost(camera_model_id: pycolmap.CameraModelId, point2D: numpy.ndarray[numpy.float64[2, 1]], point3D: numpy.ndarray[numpy.float64[3, 1]]) → pyceres.CostFunction

Reprojection error with constant 3D point.

  1. ReprojErrorCost(camera_model_id: pycolmap.CameraModelId, point2D_cov: numpy.ndarray[numpy.float64[2, 2]], point2D: numpy.ndarray[numpy.float64[2, 1]], point3D: numpy.ndarray[numpy.float64[3, 1]]) → pyceres.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: numpy.ndarray[numpy.float64[2, 1]]) → pyceres.CostFunction

Reprojection error for camera rig.

  1. RigReprojErrorCost(camera_model_id: pycolmap.CameraModelId, point2D_cov: numpy.ndarray[numpy.float64[2, 2]], point2D: numpy.ndarray[numpy.float64[2, 1]]) → pyceres.CostFunction

Reprojection error for camera rig with 2D detection noise.

  1. RigReprojErrorCost(camera_model_id: pycolmap.CameraModelId, cam_from_rig: numpy.ndarray[numpy.float64[2, 1]], point2D: pycolmap.Rigid3d) → pyceres.CostFunction

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

  1. RigReprojErrorCost(camera_model_id: pycolmap.CameraModelId, point2D_cov: numpy.ndarray[numpy.float64[2, 2]], point2D: numpy.ndarray[numpy.float64[2, 1]], cam_from_rig: pycolmap.Rigid3d) → pyceres.CostFunction

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

pycolmap.cost_functions.SampsonErrorCost(
point2D1: numpy.ndarray[numpy.float64[2, 1]],
point2D2: numpy.ndarray[numpy.float64[2, 1]],
) → pyceres.CostFunction

Sampson error for two-view geometry.

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

Overloaded function.

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

6-DoF error on the absolute camera pose.

  1. AbsolutePosePriorCost(cam_cov_from_world_prior: numpy.ndarray[numpy.float64[6, 6]], cam_from_world_prior: pycolmap.Rigid3d) → pyceres.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: numpy.ndarray[numpy.float64[3, 1]]) → pyceres.CostFunction

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

  1. AbsolutePosePositionPriorCost(position_cov_in_world_prior: numpy.ndarray[numpy.float64[3, 3]], position_in_world_prior: numpy.ndarray[numpy.float64[3, 1]]) → pyceres.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) → pyceres.CostFunction

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

  1. RelativePosePriorCost(i_cov_from_j_prior: numpy.ndarray[numpy.float64[6, 6]], i_from_j_prior: pycolmap.Rigid3d) → pyceres.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: numpy.ndarray[numpy.float64[3, 1]]) → pyceres.CostFunction

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

  1. Point3DAlignmentCost(point_cov_in_b_prior: numpy.ndarray[numpy.float64[3, 3]], point_in_b_prior: numpy.ndarray[numpy.float64[3, 1]]) → pyceres.CostFunction

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