define DebugFactor

获取光心到直线的垂直点

从相机坐标系到世界坐标系

thread: visual-inertial odometry

Takes in quaternion, and normalizes it. Precondition: The quaternion must not be close to zero.

* Sets the timestamp from seconds and microseconds * @param secs: seconds * @param usecs: microseconds */

real marginalization is removed in solve_ceres()

real marginalization is removed in solve_ceres()

* \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

* \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

* \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

//PRIVATE FUNCTIONS Function to calculate the value of a given spline at a point xval