Add EstimateGeneralizedAbsolutePose#2174
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ahojnnes merged 23 commits intocolmap:mainfrom Sep 18, 2023
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sarlinpe
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PTAL. |
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| std::vector<size_t> point3D_ids; | ||
| point3D_ids.reserve(points3D.size()); | ||
| for (const auto& p3D : points3D) { | ||
| point3D_ids.push_back(std::lower_bound(unique_points3D.begin(), |
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Since we use isApprox above to prune redundant points, but here we use the exact LowerVector3d, I suspect that you may end up with unique_points3D.end() as a return value, if the last point was pruned. In this case, you will end up with a point3D_id that is out of bounds?
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Yes this is quite error-prone. I've replaced it with the argmin of the distance to all distinct points.
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PTAL. |
sarlinpe
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Sep 17, 2023
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All tests now pass - PTAL. |
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Thanks, looks great. |
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estimators/generalized_poseasestimators/poseis getting too crowded