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estimate_essential_ransac

spatialrust

Function estimate_essential_ransac 

pub fn estimate_essential_ransac(
    correspondences: &[PointCorrespondence2],
    source_camera: CameraMatrix3,
    target_camera: CameraMatrix3,
    options: RobustEstimationOptions,
) -> Result<GeometricEstimate<Essential3>, VisionError>
Expand description

Robustly estimates an essential matrix in normalized-camera coordinates.

The RANSAC threshold is therefore expressed on the normalized image plane, not in pixels.