| 582 | double Keyframe::getLoopRelativeYaw() { return loop_info(7); } |
| 583 | |
| 584 | void Keyframe::updateLoop(Eigen::Matrix<double, 8, 1>& _loop_info) { |
| 585 | if (abs(_loop_info(7)) < 30.0 && Eigen::Vector3d(_loop_info(0), _loop_info(1), _loop_info(2)).norm() < 20.0) { |
| 586 | // printf("update loop info\n"); |
| 587 | loop_info = _loop_info; |
| 588 | } |
| 589 | } |
| 590 | |
| 591 | BriefExtractor::BriefExtractor(const std::string& pattern_file) { |
| 592 | // The DVision::BRIEF extractor computes a random pattern by default when |