| 72 | } |
| 73 | |
| 74 | std::pair<std::vector<CameraPose>, std::vector<double>> p4pf_wrapper(const std::vector<Eigen::Vector2d> &x, |
| 75 | const std::vector<Eigen::Vector3d> &X, |
| 76 | bool filter_solutions = true) { |
| 77 | std::vector<CameraPose> output; |
| 78 | std::vector<double> output_focal; |
| 79 | p4pf(x, X, &output, &output_focal, filter_solutions); |
| 80 | return std::make_pair(output, output_focal); |
| 81 | } |
| 82 | |
| 83 | std::vector<CameraPose> p2p2pl_wrapper(const std::vector<Eigen::Vector3d> &xp, const std::vector<Eigen::Vector3d> &Xp, |
| 84 | const std::vector<Eigen::Vector3d> &x, const std::vector<Eigen::Vector3d> &X, |