Function rovioli::subselectStructureMatches

Function Documentation

void rovioli::subselectStructureMatches(const summary_map::LocalizationSummaryMap &map, const summary_map::SummaryMapCachedLookups &map_cached_lookup, const aslam::VisualNFrame &nframe, size_t num_max_landmarks_to_keep_per_camera, vi_map::VertexKeyPointToStructureMatchList *structure_matches)