Function visualization::visualizePatchesOfProjectedMatchedLandmarksInVisualFrameImage

Function Documentation

void visualization::visualizePatchesOfProjectedMatchedLandmarksInVisualFrameImage(const aslam::VisualFrame &frame, const std::vector<size_t> &keypoint_indices, const vi_map::LandmarkIdList &landmark_ids, const Eigen::Matrix3Xd &p_C_landmarks, int half_patch_size_pixels, const vi_map::VIMap &map, cv::Mat *image)