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

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

* 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 */

thread: visual-inertial odometry

* @brief IMU预积分传播方程 * @Description 积分计算两个关键帧之间IMU测量的变化量： * 旋转delta_q 速度delta_v 位移delta_p * 加速度的biaslineari