Method HammingDis

pose_graph/src/pose_graph/Keyframe.cpp:548–552

}

int Keyframe::HammingDis(const DVision::BRIEF256::bitset& a, const DVision::BRIEF256::bitset& b) {
  DVision::BRIEF256::bitset xor_of_bitset = a ^ b;
  int dis = xor_of_bitset.count();
  return dis;
}

void Keyframe::getSVInPose(Eigen::Vector3d& _T_w_i, Eigen::Matrix3d& _R_w_i) {
  _T_w_i = svin_T_w_i;