Single result of a query

* @class FeaturePerId * @brief 某feature_id下的所有FeaturePerFrame * detailed */

Vector of nodes with indexes of local features

BRIEF descriptor

Vector of words to represent images

* @class BriefExtractor * @Description 通过Brief模板文件，对图像的关键点计算Brief描述子 */

forward declarations

General exception

* @class Estimator 状态估计器 * @Description IMU预积分，图像IMU融合的初始化和状态估计，重定位 * detailed */

Functions to manipulate BRIEF descriptors

Generic class to encapsulate functions to manage descriptors. * This class must be inherited. Derived classes can be used as the * parameter F when c

* @class FeaturePerFrame * @brief 特征类 * detailed */

* @class FeatureTracker * @Description 视觉前端预处理：对每个相机进行角点LK光流跟踪 */

Base class of scoring functions

* @class ImageFrame 图像帧 * @Description 图像帧类可由图像帧的特征点与时间戳构造， * 此外还保存了位姿Rt，预积分对象pre_integration，是否是关键帧。 */

This class help you to calibrate extrinsic rotation between imu and camera when your totally don't konw the extrinsic parameter */

* @class IntegrationBase IMU预积分类 * @Description */

* @class KeyFrame * @Description 构建关键帧，通过BRIEF描述子匹配关键帧和回环候选帧 */

L-norms for normalization

* @class PoseGraph * @Description 构建位姿图 */

对imu-camera 时间戳不完全同步和 Rolling shutter 相机的支持

Multiple results from a query

Functions to generate pseudo-random numbers

Provides pseudo-random numbers with no repetitions

Scoring type

Generic Database

Generic Vocabulary

Timestamp

Weighting type