| 94 | } |
| 95 | |
| 96 | void BindEssentialMatrixEstimator(py::module& m) { |
| 97 | auto ransac_options = m.attr("RANSACOptions")().cast<RANSACOptions>(); |
| 98 | |
| 99 | m.def("estimate_essential_matrix", |
| 100 | &PyEstimateAndDecomposeEssentialMatrix, |
| 101 | "points2D1"_a, |
| 102 | "points2D2"_a, |
| 103 | "camera1"_a, |
| 104 | "camera2"_a, |
| 105 | py::arg_v("estimation_options", ransac_options, "RANSACOptions()"), |
| 106 | "Robustly estimate essential matrix with LO-RANSAC and decompose it " |
| 107 | "using the cheirality check."); |
| 108 | } |