Function aslam::predictKeypointsByRotation(const VisualFrame&, const aslam::Quaternion&, Eigen::Matrix2Xd *, std::vector<unsigned char> *)

Function Documentation

void aslam::predictKeypointsByRotation(const VisualFrame &frame_k, const aslam::Quaternion &q_Ckp1_Ck, Eigen::Matrix2Xd *predicted_keypoints_kp1, std::vector<unsigned char> *prediction_success)

Rotate keypoints from a VisualFrame using a specified rotation.

Note that if the back-, projection fails or the keypoint leaves the image region, the predicted keypoint will be left unchanged and the prediction_success will be set to false.