Function dense_reconstruction::isLandmarkVisibleForObserverCamera

Function Documentation

bool dense_reconstruction::isLandmarkVisibleForObserverCamera(const vi_map::VIMap &vi_map, const vi_map::Vertex &vertex, const vi_map::LandmarkId &landmark_id, const Eigen::Vector3d &p_G, const ObserverCamera &observer_camera, const ObserverPose &observer_pose)