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David Novotny authored
Summary: adds `corresponding_cameras_alignment` function that estimates a similarity transformation between two sets of cameras. The function is essential for computing camera errors in SfM pipelines. ``` Benchmark Avg Time(μs) Peak Time(μs) Iterations -------------------------------------------------------------------------------- CORRESPONDING_CAMERAS_ALIGNMENT_10_centers_False 32219 36211 16 CORRESPONDING_CAMERAS_ALIGNMENT_10_centers_True 32429 36063 16 CORRESPONDING_CAMERAS_ALIGNMENT_10_extrinsics_False 5548 8782 91 CORRESPONDING_CAMERAS_ALIGNMENT_10_extrinsics_True 6153 9752 82 CORRESPONDING_CAMERAS_ALIGNMENT_100_centers_False 33344 40398 16 CORRESPONDING_CAMERAS_ALIGNMENT_100_centers_True 34528 37095 15 CORRESPONDING_CAMERAS_ALIGNMENT_100_extrinsics_False 5576 7187 90 CORRESPONDING_CAMERAS_ALIGNMENT_100_extrinsics_True 6256 9166 80 CORRESPONDING_CAMERAS_ALIGNMENT_1000_centers_False 32020 37247 16 CORRESPONDING_CAMERAS_ALIGNMENT_1000_centers_True 32776 37644 16 CORRESPONDING_CAMERAS_ALIGNMENT_1000_extrinsics_False 5336 8795 94 CORRESPONDING_CAMERAS_ALIGNMENT_1000_extrinsics_True 6266 9929 80 -------------------------------------------------------------------------------- ``` Reviewed By: shapovalov Differential Revision: D22946415 fbshipit-source-id: 8caae7ee365b304d8aa1f8133cf0dd92c35bc0dd
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