* Returns the scoring method * @return scoring method */

* Returns the weighting method * @return weighting method */

从IMU测量值imu_msg和上一个PVQ递推得到当前PVQ.https://blog.csdn.net/weixin_42846216/article/details/106605612

* Returns the exception message */

q w_R_cam t w_R_cam c_rotation cam_R_w c_translation cam_R_w relative_q[i][j] j_q_i relative_t[i][j] j_t_ji (j < i)

calculate residuals for ceres optimization, used in imu_factor.h paper equation 24

* Returns the branching factor of the tree (k) * @return k */

* Returns the depth levels of the tree (L) * @return L */

* Sets the test pattern * @param x1 x1 coordinates of pairs * @param y1 y1 coordinates of pairs * @param x2 x2 coordinates of pairs * @par

判断跟踪的特征点是否在图像边界内 whether in borders of image

Query the current orientation estimate.