Relative pose from correspondences of points with orientation and scale.

[S-o-T]

Should one expect the implementation of minimal solvers from https://arxiv.org/abs/2203.07930 in PoseLib?

[vlarsson]

As far as I understand, the additional constraints are simply linear and it should be fairly easy to implement. I plan to experiment with it a bit as soon as I find time. Assuming I can get it working, I plan to include them as well.

[S-o-T]

https://doi.org/10.1145/3503161.3547788 might be interesting to not to rely on feature orientation.