* 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

Extract a folder of images from a rosbag.

移除窗口里最老关键帧对应的帧上的特征

* \brief Project a 3D point (\a x,\a y,\a z) to the image plane in (\a u,\a v) * * \param P 3D point coordinates * \param p return value, contains

Adjoint transformation This function return the adjoint transformation ``Ad`` of the group element ``A`` such that for all ``x`` it holds that ``hat(

* Creates an exception with a general error message */

define LINEINCAM