Add a point to the spline, and invalidate it so its recalculated on the next access

populate tables */

This function rounds x to the nearest integer, but rounds halfway cases away from zero. */

featureId cameraId, point

check lines' extremes */

compute Gaussian pyramid of input image */

initializer */

* Checks if the loop was detected * @return true iff a loop was detected */

* Returns the scoring method * @return scoring method */

* Returns the scoring method * @return scoring method */

* Returns the weighting method * @return weighting method */

* Returns the weighting method * @return weighting method */

两平面相交得到直线的plucker 坐标

使用mid-point方法对imu状态量进行预测 */

Reads a trajectory from a text file. File format: The file format is "stamp d1 d2 d3 ...", where stamp denotes the time stamp (to b