Function map_sparsification::getQuadraticCostCoobservanceSparseMatrix

Function Documentation

void map_sparsification::getQuadraticCostCoobservanceSparseMatrix(const vi_map::VIMap &map, const std::unordered_map<vi_map::LandmarkId, unsigned int> &landmark_index_map, bool use_reference_setup, Eigen::SparseMatrix<double> *average_distance_matrix)