Template Function loop_closure::inverted_multi_index::common::AddDescriptor

Function Documentation

template<typename DescType, int DescDim>
void loop_closure::inverted_multi_index::common::AddDescriptor(const Eigen::Matrix<DescType, DescDim, 1> &descriptor, int descriptor_id, int word_index, std::unordered_map<int, int> *word_index_map, Aligned<std::vector, InvertedFile<DescType, DescDim>> *inverted_files)