I read the paper mentioning Position averaging, but found nothing about it in the code?

tsattler / meshloc_release

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I read the paper mentioning Position averaging, but found nothing about it in the code? #3

Closed coder12333444 closed 2 years ago

coder12333444 commented 2 years ago

@v-pnk @tsattler Hi,I'm confused about the underlined part, since Ci is a sampling point based on C (virtual), how do I go about counting the number of inliers points in 2d-3D？

tsattler commented 2 years ago

Each C_i, together with the rotation matrix R, defines a pose. For this pose, we count the number of 2D-3D matches (created in a previous step) that are inliers to this pose by projecting the 3D points into the images and measuring the reprojection error compared to the corresponding 2D coordinates.

The corresponding part of the code is this: https://github.com/tsattler/meshloc_release/blob/main/src/pose_estimation.cc#L640-L673