Class FivePointPoseEstimator

Class Documentation

class opengv_pose_estimation::FivePointPoseEstimator

Public Functions

void ComputePinhole(const Eigen::Matrix2Xd &measurements_a, const Eigen::Matrix2Xd &measurements_b, double pixel_sigma, unsigned int max_ransac_iters, aslam::Camera::ConstPtr camera_ptr, pose::Transformation *output_transform, std::vector<int> *inlier_matches)
void Compute(const Eigen::Matrix2Xd &measurements_a, const Eigen::Matrix2Xd &measurements_b, double ransac_threshold, unsigned int max_ransac_iters, aslam::Camera::ConstPtr camera_ptr, pose::Transformation *output_transform, std::vector<int> *inlier_matches)