Function aslam::geometric_vision::rejectOutlierFeatureMatchesTranslationRotationSAC(const BearingVectors&, const BearingVectors&, const aslam::Quaternion&, bool, double, size_t, std::unordered_set<int> *)

Function Documentation

bool aslam::geometric_vision::rejectOutlierFeatureMatchesTranslationRotationSAC(const BearingVectors &bearing_vectors_kp1, const BearingVectors &bearing_vectors_k, const aslam::Quaternion &q_Ckp1_Ck, bool fix_random_seed, double ransac_threshold, size_t ransac_max_iterations, std::unordered_set<int> *inlier_indices)