Method Rot90

src/colmap/feature/types.cc:94–135

}

void FeatureKeypoint::Rot90(int k, int width, int height) {
  k = k % 4;
  if (k < 0) {
    k += 4;
  }
  if (k == 0) {
    return;
  }
  float new_x = x, new_y = y;
  float new_a11 = a11, new_a12 = a12, new_a21 = a21, new_a22 = a22;
  const float w = static_cast<float>(width);
  const float h = static_cast<float>(height);

  if (k == 1) {  // 90 CCW
    new_x = y;
    new_y = w - x;
    new_a11 = a21;
    new_a12 = a22;
    new_a21 = -a11;
    new_a22 = -a12;
  } else if (k == 2) {  // 180 CCW
    new_x = w - x;
    new_y = h - y;
    new_a11 = -a11;
    new_a12 = -a12;
    new_a21 = -a21;
    new_a22 = -a22;
  } else if (k == 3) {  // 270 CCW
    new_x = h - y;
    new_y = x;
    new_a11 = -a21;
    new_a12 = -a22;
    new_a21 = a11;
    new_a22 = a12;
  }
  x = new_x;
  y = new_y;
  a11 = new_a11;
  a12 = new_a12;
  a21 = new_a21;
  a22 = new_a22;
}

float FeatureKeypoint::ComputeScale() const {
  return (ComputeScaleX() + ComputeScaleY()) / 2.0f;