Program Listing for File visual-localizer-helpers.h

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#ifndef MAPLAB_NODE_VISUAL_LOCALIZER_HELPERS_H_
#define MAPLAB_NODE_VISUAL_LOCALIZER_HELPERS_H_

#include <localization-summary-map/localization-summary-map-queries.h>
#include <localization-summary-map/localization-summary-map.h>
#include <loop-closure-handler/loop-detector-node.h>
#include <maplab-common/macros.h>
#include <vio-common/vio-types.h>

namespace maplab {

void convertVertexKeyPointToStructureMatchListToLocalizationResult(
    const summary_map::LocalizationSummaryMap& map,
    const aslam::VisualNFrame& query_nframe,
    const vi_map::VertexKeyPointToStructureMatchList& inlier_structure_matches,
    vio::LocalizationResult* localization_result);

void 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);

}  // namespace maplab

#endif  // MAPLAB_NODE_VISUAL_LOCALIZER_HELPERS_H_