text: #pragma once
  
  #include "relative_pose_estimate.h"
  
  /// \brief Estimates the relative pose between to camera frames through epipolar geometry.
  class TwoViewRelativePoseEstimator
  {
  public:
    /// \brief Constructor
    /// \param K The intrinsic camera calibration matrix.
    explicit TwoViewRelativePoseEstimator(const cv::Matx33d& K, double max_epipolar_distance = 2.0);
  
    /// \brief Estimate the relative pose from 2d-2d correspondences.
    /// \param corr The 2d-2d correspondences between two frames.
    RelativePoseEstimate estimate(const FrameToFrameCorrespondences& corr);
  
  private:
    cv::Matx33d K_;
    double max_epipolar_distance_;
  };
  