* Returns true iff a.Score >= b.Score * @param a * @param b * @return true iff a.Score >= b.Score */

* Returns true iff a.Score >= s * @param a * @param s * @return true iff a.Score >= s */

* Returns the descriptor length in bits * @return descriptor length in bits */

返回索引为index的关键帧

* Returns the size of the patch */

* Returns the timestamp in seconds and microseconds * @param secs seconds * @param usecs microseconds */

* Returns the type of classifier */

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

图像数据回调函数，将image_msg放入image_buf，同时根据时间戳检测是否是新的图像序列

* @brief ROS的回调函数，对新来的图像进行特征点追踪，发布 * @Description readImage()函数对新来的图像使用光流法进行特征点跟踪 * 追踪的特征点封装成feature_points发布到pub_img的话题下， *

imu回调函数，将imu_msg保存到imu_buf，IMU状态递推并发布[P,Q,V,header]

imu前向递推的回调函数，从IMU预积分的位姿得到IMU位姿和cam位姿，得到低延迟和高频率结果

* @brief 视觉的结构初始化 * @Description 确保IMU有充分运动激励 * relativePose()找到具有足够视差的两帧,由F矩阵恢复R、t作为初始值 * sfm.construct() 全局纯视觉SFM 恢复滑

* Returns the number of values still to be returned * @return amount of values to return */

* \brief Lifts a point from the image plane to its projective ray * * \param p image coordinates * \param P coordinates of the projective ray */

* \brief Lifts a point from the image plane to its projective ray * * \param p image coordinates * \param P coordinates of the projective ray */

* \brief Lifts a point from the image plane to its projective ray * * \param p image coordinates * \param P coordinates of the projective ray */

* \brief Lifts a point from the image plane to the unit sphere * * \param p image coordinates * \param P coordinates of the point on the sphere */

* \brief Lifts a point from the image plane to the unit sphere * * \param p image coordinates * \param P coordinates of the point on the sphere */

* \brief Lifts a point from the image plane to the unit sphere * * \param p image coordinates * \param P coordinates of the point on the sphere */

* \brief Lifts a point from the image plane to the unit sphere * * \param p image coordinates * \param P coordinates of the point on the sphere */

* Returns true iff a.Id < b.Id * @param a * @param b * @return true iff a.Id < b.Id */

* @brief IMU预积分中采用中值积分递推Jacobian和Covariance * 构造误差的线性化递推方程，得到Jacobian和Covariance递推公式-> Paper 式9、10、11 * @return void */

\ * Says if a vector must be normalized according to the scoring function \ * @param norm (out) if true, norm to use * @return true iff

计算Brief描述子

* Returns the BRIEF descriptors of the given keypoints in the given image * @param image * @param points * @param descriptors * @param tr

Check if the spline has been calculated, then generate the spline interpolated value

* Compares the scores of two results * @return true iff this.score < r.score */

* Compares the entry id of the result * @return true iff this.id == id */

* Compares the entry ids * @param eid * @return true iff this entry id is the same as eid */

* Compares the scores of two results * @return true iff this.score > r.score */