Function swri_image_util::WarpPoints(double, double, const cv::Size&, const std::vector<cv::KeyPoint>&, std::vector<cv::KeyPoint>&)

• Defined in File image_warp_util.h

Function Documentation

void swri_image_util::WarpPoints(double pitch, double roll, const cv::Size &image_size, const std::vector<cv::KeyPoint> &pts_in, std::vector<cv::KeyPoint> &pts_out)

Warps a matrix of points (in the same form as the inliers)

Parameters:

• pitch – [in] The pitch used to warp the point

• roll – [in] The roll used to warp the point

• image_size – [in] The size of the (unwarped) image

• pts_in – [in] The points to warp

• pts_out – [out] The warped points