typedef relativeposeproblem sac_problems::relative_pose::CentralRelativePoseSacProblem;


// 1. Create RANSAC to solve relativeposeproblem
sac::Ransac<relativeposeproblem> ransac(10000, 0.002);

//2. Create problem
std::shared_ptr<relativeposeproblem> relposeproblem_ptr(
      new relativeposeproblem(
      adapter,
      relativeposeproblem::STEWENIUS));


//3. Set member of your ransac object ==> Set the model
  ransac.sac_model_ = relposeproblem_ptr;