Function aslam_cv_visualization::visualizeKeypoints

Function Documentation

void aslam_cv_visualization::visualizeKeypoints(const std::shared_ptr<const aslam::VisualNFrame> &nframe, cv::Mat *image)

High-level functions - They render raw images plus some additional visualization.

Takes an nframe, assembles all frames into one big image, puts in the raw images from the frames and draws keypoints on them.