| 21 | |
| 22 | template <typename Derived> |
| 23 | static void reduceVector(std::vector<Derived>& v, std::vector<uchar> status) { // NOLINT |
| 24 | int j = 0; |
| 25 | for (int i = 0; i < static_cast<int>(v.size()); i++) |
| 26 | if (status[i]) v[j++] = v[i]; |
| 27 | v.resize(j); |
| 28 | } |
| 29 | |
| 30 | Keyframe::Keyframe(Timestamp _time_stamp, |
| 31 | std::vector<Eigen::Vector3i>& _point_ids, |