| 138 | } |
| 139 | |
| 140 | std::pair<std::vector<CameraPose>, std::vector<double>> ugp3ps_wrapper(const std::vector<Eigen::Vector3d> &p, |
| 141 | const std::vector<Eigen::Vector3d> &x, |
| 142 | const std::vector<Eigen::Vector3d> &X, |
| 143 | bool filter_solutions = true) { |
| 144 | std::vector<CameraPose> output; |
| 145 | std::vector<double> output_scales; |
| 146 | ugp3ps(p, x, X, &output, &output_scales, filter_solutions); |
| 147 | return std::make_pair(output, output_scales); |
| 148 | } |
| 149 | |
| 150 | std::vector<CameraPose> up1p2pl_wrapper(const std::vector<Eigen::Vector3d> &xp, const std::vector<Eigen::Vector3d> &Xp, |
| 151 | const std::vector<Eigen::Vector3d> &x, const std::vector<Eigen::Vector3d> &X, |