Method HammingDis

src/dvins/pose_graph/src/keyframe.cpp:523–528

int KeyFrame::HammingDis(const BRIEF::bitset &a, const BRIEF::bitset &b)
{
    BRIEF::bitset xor_of_bitset = a ^ b;
    int dis = xor_of_bitset.count();
    return dis;
}

void KeyFrame::getVioPose(Eigen::Vector3d &_T_w_i, Eigen::Matrix3d &_R_w_i)
{