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, stddev: float, point2D: numpy.ndarray[numpy.float64[2, 1]]) -> pyceres.CostFunction

Reprojection error with 2D detection noise.

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

Reprojection error with constant camera pose.

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

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

  1. RigReprojErrorCost(camera_model_id: pycolmap.CameraModelId, stddev: float, cam_from_rig: pycolmap.Rigid3d, point2D: numpy.ndarray[numpy.float64[2, 1]]) -> 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.AbsolutePoseErrorCost(
cam_from_world: pycolmap.Rigid3d,
covariance_cam: numpy.ndarray[numpy.float64[6, 6]],
) → pyceres.CostFunction

6-DoF error on the absolute pose.

pycolmap.cost_functions.MetricRelativePoseErrorCost(
i_from_j: pycolmap.Rigid3d,
covariance_j: numpy.ndarray[numpy.float64[6, 6]],
) → pyceres.CostFunction

6-DoF error between two absolute poses based on their relative pose.

pycolmap.cost_functions.Point3dAlignmentCost(
ref_point: numpy.ndarray[numpy.float64[3, 1]],
covariance_point: numpy.ndarray[numpy.float64[3, 3]],
) → pyceres.CostFunction

Error between 3D points transformed by a similarity transform.

pycolmap.cost_functions.PositionPriorErrorCost(
world_from_cam_position_prior: numpy.ndarray[numpy.float64[3, 1]],
covariance: numpy.ndarray[numpy.float64[3, 3]],
) → pyceres.CostFunction