Variable vi_map::kDescriptorSize

Variable Documentation

static constexpr size_t vi_map::kDescriptorSize = 48

This class provides a wrapper for the following VIMap functions:

  • addNewMissionWithBaseFrame

  • addNewLandmark

  • associateKeypointWithExistingLandmark

  • addVertex

  • addEdge

The goal is to avoid the householding that is typically required with the use of these functions.