Function aslam::getBearingVectorsFromMatches

Function Documentation

void aslam::getBearingVectorsFromMatches(const VisualFrame &frame_kp1, const VisualFrame &frame_k, const FrameToFrameMatches &matches_kp1_k, Aligned<std::vector, Eigen::Vector3d> *bearing_vectors_kp1, Aligned<std::vector, Eigen::Vector3d> *bearing_vectors_k)

Return the normalized bearing vectors for a list of single camera matches.