| 2 | |
| 3 | template <typename Derived> |
| 4 | static void reduceVector(vector<Derived> &v, vector<uchar> status) |
| 5 | { |
| 6 | int j = 0; |
| 7 | for (int i = 0; i < int(v.size()); i++) |
| 8 | if (status[i]) |
| 9 | v[j++] = v[i]; |
| 10 | v.resize(j); |
| 11 | } |
| 12 | |
| 13 | // create keyframe online |
| 14 | KeyFrame::KeyFrame(double _time_stamp, int _index, Vector3d &_vio_T_w_i, Matrix3d &_vio_R_w_i, cv::Mat &_image, |