Function vi_map_helpers::getDescriptorClosestToMedian

• Defined in File vi-map-descriptor-utils.h

Function Documentation

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)