landmarks can now be defined with respect to a camera geometric frame instead of the world geometric frame #1896
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added 3 commits
June 25, 2025 17:27
Conflicts: src/aliceVision/geometry/Geometry.i
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Functions to create cost functions were in the BundleAdjustmentCeres.cpp as local functions. Moved to their respective cost function struct as static factory methods (Reason: code lisibility).
A new parameter to landmarks is added "referenceViewId". For a landmark, if this parameter is not UndefinedIndexT, this is considered as the reference view index for this landmark. In this case, the landmark coordinates will be considered to be relative to the reference view geometric frame.
Similarity3D class is removed as it is never used in the code base.