In the src/image_processor.cpp a twoPointRansac function is defined. In the source file, line 1019-1027 compensate the point in previous image with the rotation. The thing that really makes me confused is in line 1025~1026, I think the pt.x and pt.y should be pt.x = pt_hc[0] / pt_hc[2]; pt.y = pt_hc[1] / pt_hc[2];, it seems that this normalization cannot be absorbed in the following rescalePoints operation.
In the src/image_processor.cpp a twoPointRansac function is defined. In the source file, line 1019-1027 compensate the point in previous image with the rotation. The thing that really makes me confused is in line 1025~1026, I think the pt.x and pt.y should be
pt.x = pt_hc[0] / pt_hc[2]; pt.y = pt_hc[1] / pt_hc[2];, it seems that this normalization cannot be absorbed in the followingrescalePointsoperation.