Method ReconstructWithTwoViews

src/CameraModels/Pinhole.cpp:83–91

    }

    bool Pinhole::ReconstructWithTwoViews(const std::vector<cv::KeyPoint>& vKeys1, const std::vector<cv::KeyPoint>& vKeys2, const std::vector<int> &vMatches12,
                                 Sophus::SE3f &T21, std::vector<cv::Point3f> &vP3D, std::vector<bool> &vbTriangulated){
        if(!tvr){
            Eigen::Matrix3f K = this->toK_();
            tvr = new TwoViewReconstruction(K);
        }

        return tvr->Reconstruct(vKeys1,vKeys2,vMatches12,T21,vP3D,vbTriangulated);
    }


    cv::Mat Pinhole::toK() {