diff options
Diffstat (limited to 'extern/libmv/libmv/multiview/euclidean_resection.h')
| -rw-r--r-- | extern/libmv/libmv/multiview/euclidean_resection.h | 9 |
1 files changed, 7 insertions, 2 deletions
diff --git a/extern/libmv/libmv/multiview/euclidean_resection.h b/extern/libmv/libmv/multiview/euclidean_resection.h index f20513d3fbe..b0428ec61fd 100644 --- a/extern/libmv/libmv/multiview/euclidean_resection.h +++ b/extern/libmv/libmv/multiview/euclidean_resection.h @@ -45,11 +45,14 @@ enum ResectionMethod { * \param R Solution for the camera rotation matrix * \param t Solution for the camera translation vector * \param method The resection method to use. + * \param success_threshold Threshold of an error which is still considered a success + * (currently used by EPnP algorithm only) */ bool EuclideanResection(const Mat2X &x_camera, const Mat3X &X_world, Mat3 *R, Vec3 *t, - ResectionMethod method = RESECTION_EPNP); + ResectionMethod method = RESECTION_EPNP, + double success_threshold = 1e-3); /** * Computes the extrinsic parameters, R and t for a calibrated camera @@ -110,6 +113,7 @@ void EuclideanResectionAnsarDaniilidis(const Mat2X &x_camera, * \param X_world 3D points in the world coordinate system * \param R Solution for the camera rotation matrix * \param t Solution for the camera translation vector + * \param success_threshold Threshold of an error which is still considered a success * * This is the algorithm described in: * "{EP$n$P: An Accurate $O(n)$ Solution to the P$n$P Problem", by V. Lepetit @@ -118,7 +122,8 @@ void EuclideanResectionAnsarDaniilidis(const Mat2X &x_camera, */ bool EuclideanResectionEPnP(const Mat2X &x_camera, const Mat3X &X_world, - Mat3 *R, Vec3 *t); + Mat3 *R, Vec3 *t, + double success_threshold = 1e-3); } // namespace euclidean_resection } // namespace libmv |