Function aslam::getUnrotatedMatchPixelDisparityMedian

Function Documentation

double aslam::getUnrotatedMatchPixelDisparityMedian(const VisualNFrame &nframe_kp1, const VisualNFrame &nframe_k, const FrameToFrameMatchesList &matches_kp1_k, const aslam::Quaternion &q_kp1_k)

Get the median pixel disparity for all matches, taking into account the relative orientation of the frames.