| 569 | } |
| 570 | |
| 571 | void KeyFrame::updateLoop(Eigen::Matrix<double, 8, 1 > &_loop_info) |
| 572 | { |
| 573 | if (abs(_loop_info(7)) < 30.0 && Vector3d(_loop_info(0), _loop_info(1), _loop_info(2)).norm() < 20.0) |
| 574 | { |
| 575 | //printf("update loop info\n"); |
| 576 | loop_info = _loop_info; |
| 577 | } |
| 578 | } |
| 579 | |
| 580 | BriefExtractor::BriefExtractor(const std::string &pattern_file) |
| 581 | { |