是否是坏点 被观测到的次数小于2 已经被观测到

columns of the matrix

Aligns a buffer size to the specified number of bytes The function returns the minimum number that is greater or equal to sz and is divisible by n sz

rows of the matrix

returns the dimensions of the error function

set the ith vertex on the hyper-edge to the pointer supplied */

Aligns a buffer size to the specified number of bytes The function returns the minimum number that is greater or equal to sz and is divisible by n sz

true => this node is fixed during the optimization

temporary index of this node in the parameter vector obtained from linearization

返回该点被观测到 的次数

* @brief Set the camera pose. * * 设置相机姿态，随后会调用 UpdatePoseMatrices() 来改变mRcw,mRwc等变量的值 * @param Tcw Transformation from world to camera */

得到所有地图点 排序(vector)

// 世界 到 相机 位姿

thread-unsafe branch

thread-unsafe branch

return x, the solution vector

旋转向量

exp() computed for 4 float at once */

true => this node is marginalized out during the optimization

平移向量