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| const std::unordered_map<frame_t, Frame>& frames, | ||
| const std::unordered_map<image_t, Image>& images, | ||
| std::unordered_map<image_t, colmap::PosePrior*>& image_to_pose_prior, | ||
| std::unordered_set<image_t>& error_prone_images); |
| namespace glomap { | ||
| namespace { | ||
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| Eigen::Matrix3d GetImageAlignRot(const Image& image, |
| A, Eigen::ComputeThinU | Eigen::ComputeThinV); | ||
| // The first singular vector corresponds to the principal direction. | ||
| Eigen::JacobiSVD<Eigen::Matrix3d> svd(A, Eigen::ComputeFullU); | ||
| Eigen::Vector3d average = svd.matrixU().col(0); |
| if (gravities.size() == 0) { | ||
| std::cerr | ||
| << "Error trying to calculate the average gravities of an empty set!\n"; | ||
| Eigen::Vector3d AverageGravityDirection( |
| // Estimate the average gravity direction from a set of gravity directions | ||
| Eigen::Vector3d AverageGravity(const std::vector<Eigen::Vector3d>& gravities); | ||
| // Compute the average direction from normalized gravity direction vectors. | ||
| Eigen::Vector3d AverageGravityDirection( |
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