Single result of a query

Vector of nodes with indexes of local features

BRIEF descriptor

Vector of words to represent images

General exception

Functions to manipulate BRIEF descriptors

Generic class to encapsulate functions to manage descriptors. * This class must be inherited. Derived classes can be used as the * parameter F when c

Base class of scoring functions

Keeps track of the orientation using angular velocities and linear accelerations from an IMU. Because averaged linear acceleration (assuming slow move

This class help you to calibrate extrinsic rotation between imu and camera when your totally don't konw the extrinsic parameter */

* @class IntegrationBase IMU pre-integration class * @Description */

L-norms for normalization

对imu-camera 时间戳不完全同步和 Rolling shutter 相机的支持

Multiple results from a query

Functions to generate pseudo-random numbers

Provides pseudo-random numbers with no repetitions

for removing noist points

Scoring type

Generic Database

Generic Vocabulary

Timestamp

Weighting type