Function vi_map_helpers::getDescriptorClosestToMedian¶
Defined in File vi-map-descriptor-utils.h
Function Documentation¶
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void
vi_map_helpers
::
getDescriptorClosestToMedian
(const vi_map::KeypointIdentifierList &observations, const vi_map::VIMap &map, Eigen::Matrix<unsigned char, Eigen::Dynamic, 1> *descriptor, size_t *descriptor_index)¶