Creates the actual bag file by successively adding images

Creates a bag file with camera images

Creates a bag file containing stereo image pairs

Generates a list of files from the directory

assign one value to all elements

Convert Earth-Centered-Earth-Fixed (ECEF) to lat, Lon, Altitude Input is a three element array containing x, y, z in meters Returned array contains la

Frees all allocated memory chunks */

Convert Lat, Lon, Altitude to Earth-Centered-Earth-Fixed (ECEF) Input is a three element array containing lat, lon (rads) and alt (m) Returned array c

Returns the L2 distance between the vector "p1[0:size-1]" and the data point with index "idx_p2" stored in the class:

* Returns a pointer to a piece of new memory of the given size in bytes * allocated from the pool. */

Parse the whole argument string for any relevant arguments: */

Usage: * called once after a new keyframe is created, with the forward-warped inverse depthmap for that keyframe. * (<= 0 for pixels

Depending on the "preset" argument passed to the main function (=> real-time or no real-time?) We set the appropriate variables in the util/settings

* returns * * OOB -> point is optimized and marginalized * * UPDATED -> point has been updated. * * SKIP -> point has not been updated. */