| 1413 | } |
| 1414 | |
| 1415 | bool Estimator::IsKeyframeInWindow(int frame_id) const { |
| 1416 | for (const auto& kf : m_keyframes) { |
| 1417 | if (kf->GetFrameId() == frame_id) return true; |
| 1418 | } |
| 1419 | return false; |
| 1420 | } |
| 1421 | |
| 1422 | bool Estimator::TriangulateSinglePoint( |
| 1423 | const Eigen::Vector3f& bearing1, |
nothing calls this directly
no test coverage detected