10#ifndef SFM_RANSAC_POSE_P3P_HEADER
11#define SFM_RANSAC_POSE_P3P_HEADER
81 typedef std::vector<Pose> PutativePoses;
86 PutativePoses* poses)
const;
90 Pose const& pose, std::vector<int>* inliers)
const;
99RansacPoseP3P::Options::Options (
void)
100 : max_iterations(1000)
102 , verbose_output(false)
Matrix class for arbitrary dimensions and types.
RANSAC pose estimation from 2D-3D correspondences and known camera calibration using the perspective ...
std::vector< Correspondence2D3D > Correspondences2D3D
#define SFM_NAMESPACE_END
#define SFM_NAMESPACE_BEGIN
bool verbose_output
Produce status messages on the console.
double threshold
Threshold used to determine inliers.
int max_iterations
The number of RANSAC iterations.
math::Matrix< double, 3, 4 > pose
The pose [R|t] which led to the inliers.
std::vector< int > inliers
The correspondence indices which led to the result.