SRBA: Sparser Relative Bundle Adjustment
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Landmark matcher overloaded function. Used to provide a first initial guess for the relative pose in loop closures.
POSE | can be mrpt::poses::CPose2D or mrpt::poses::CPose3D |
Definition at line 47 of file observations_MonocularCamera.h.
#include <observations_MonocularCamera.h>
Static Public Member Functions | |
template<class POSE > | |
static bool | find_relative_pose (const mrpt::aligned_containers< MonocularCamera::obs_data_t >::vector_t &new_kf_obs, const mrpt::aligned_containers< MonocularCamera::obs_data_t >::vector_t &old_kf_obs, const MonocularCamera::TObservationParams ¶ms, POSE &pose_new_kf_wrt_old_kf) |