Function aslam::geometric_vision::rejectOutlierFeatureMatchesTranslationRotationSAC(const aslam::VisualFrame&, const aslam::VisualFrame&, const aslam::Quaternion&, const aslam::FrameToFrameMatchesWithScore&, bool, double, size_t, aslam::FrameToFrameMatchesWithScore *, aslam::FrameToFrameMatchesWithScore *)

Function Documentation

bool aslam::geometric_vision::rejectOutlierFeatureMatchesTranslationRotationSAC(const aslam::VisualFrame &frame_kp1, const aslam::VisualFrame &frame_k, const aslam::Quaternion &q_Ckp1_Ck, const aslam::FrameToFrameMatchesWithScore &matches_kp1_k, bool fix_random_seed, double ransac_threshold, size_t ransac_max_iterations, aslam::FrameToFrameMatchesWithScore *inlier_matches_kp1_k, aslam::FrameToFrameMatchesWithScore *outlier_matches_kp1_k)