* Checks if the loop was detected * @return true iff a loop was detected */

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

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

两平面相交得到直线的plucker 坐标

使用mid-point方法对imu状态量进行预测 */

Reset the boundary conditions

// 此段代码用于仿真验证 void FeatureManager::triangulateLine(Vector3d Ps[], Vector3d tic[], Matrix3d ric[]) { //std::cout<<"linefeature size: "<<linefeature

read time stamps

read time stamps

read time stamps

return ground truth pose and timestamp with TUM style

return IMU data and timestamp of IMU

return IMU data and timestamp of IMU

Generates a list of files from the directory

Generates a list of files from the directory

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)