Function rovioli::convertVertexKeyPointToStructureMatchListToLocalizationResult

Function Documentation

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