| // Copyright (c) 2022, ETH Zurich and UNC Chapel Hill. | |
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| // Author: Johannes L. Schoenberger (jsch-at-demuc-dot-de) | |
| namespace colmap { | |
| class AffineTransformEstimator { | |
| public: | |
| typedef Eigen::Vector2d X_t; | |
| typedef Eigen::Vector2d Y_t; | |
| typedef Eigen::Matrix<double, 2, 3> M_t; | |
| // The minimum number of samples needed to estimate a model. | |
| static const int kMinNumSamples = 3; | |
| // Estimate the affine transformation from at least 3 correspondences. | |
| static std::vector<M_t> Estimate(const std::vector<X_t>& points1, | |
| const std::vector<Y_t>& points2); | |
| // Compute the squared transformation error. | |
| static void Residuals(const std::vector<X_t>& points1, | |
| const std::vector<Y_t>& points2, const M_t& E, | |
| std::vector<double>* residuals); | |
| }; | |
| } // namespace colmap | |