Function loop_closure_handler::getBestStructureMatchForEveryKeypoint

Function Documentation

void loop_closure_handler::getBestStructureMatchForEveryKeypoint(const std::vector<int> &inliers, const std::vector<double> &inlier_distances_to_model, const vi_map::VertexKeyPointToStructureMatchList &structure_matches, const aslam::VisualNFrame &query_vertex_n_frame, KeypointToInlierIndexWithReprojectionErrorMap *keypoint_to_best_structure_match)