通过RANSAC的PNP检验去除匹配异常的点

* Empty constructors */

Constructor takes the boundary conditions as arguments, this sets the first derivative (gradient) at the lower and upper end points

将当前帧的描述子存入字典数据库

添将新检测到的特征点n_pts

=========================================================================== AUGMENT PATTERN WITH ADDITIONAL QUADS ====================================

=========================================================================== ERASE OVERHEAD ===========================================================

清楚特征管理器中的特征

计算某个特征点it_per_id在次新帧和次次新帧的视差

额外检测新特征点并计算所有特征点的描述子，为了回环检测

计算窗口中所有特征点的描述子

回环检测

* Returns the Hamming distance between two descriptors * @param a first descriptor vector * @param b second descriptor vector * @return hammi

* \brief Apply distortion to input point (from the normalised plane) * * \param p_u undistorted coordinates of point on the normalised plane * \r

* \brief Apply distortion to input point (from the normalised plane) * * \param p_u undistorted coordinates of point on the normalised plane * \ret

数据转换，vector2double的相反过程 同时这里为防止优化结果往零空间变化，会根据优化前后第一帧的位姿差进行修正。

* Returns whether all the possible values between min and max were * already given. If get() is called when empty() is true, the behaviour * is

* Exports the test pattern * @param x1 x1 coordinates of pairs * @param y1 y1 coordinates of pairs * @param x2 x2 coordinates of pairs * @

相机IMU的外参回调函数，得到tic和qic

系统故障检测 -> Paper VI-G

feature回调函数，将feature_msg放入feature_buf

=========================================================================== FIND COONECTED QUADS =====================================================

=========================================================================== GIVE A GROUP IDX =========================================================

* Compares the scores of two results * @return true iff a.Score > b.Score */

This function will recalculate the spline parameters and store them in _data, ready for spline interpolation

=========================================================================== GENERATE QUADRANGLES =====================================================