Reset the boundary conditions

splitting function (b <= 64) */

// 此段代码用于仿真验证 void FeatureManager::triangulateLine(Vector3d Ps[], Vector3d tic[], Matrix3d ric[]) { //std::cout<<"linefeature size: "<<linefeature

read time stamps

read time stamps

read time stamps

return ground truth pose and timestamp with TUM style

return IMU data and timestamp of IMU

return IMU data and timestamp of IMU

Generates a list of files from the directory

Generates a list of files from the directory

Associate two dictionaries of (stamp,data). As the time stamps never match exactly, we aim to find the closest match for every input tuple.

utility function for conversion of an LBD descriptor to its binary representation */

requires descriptors computation (only one image) */

compute Sobel's derivatives */

q w_R_cam t w_R_cam c_rotation cam_R_w c_translation cam_R_w relative_q[i][j] j_q_i relative_t[i][j] j_t_ji (j < i)

draw matches between two images */

power function with error management */

* Returns the branching factor of the tree (k) * @return k */

* Returns the branching factor of the tree (k) * @return k */

* Returns the depth levels of the tree (L) * @return L */

* Returns the depth levels of the tree (L) * @return L */

* Sets the test pattern * @param x1 x1 coordinates of pairs * @param y1 y1 coordinates of pairs * @param x2 x2 coordinates of pairs * @par

* Sets the test pattern * @param x1 x1 coordinates of pairs * @param y1 y1 coordinates of pairs * @param x2 x2 coordinates of pairs * @par

Extract a folder of images from a rosbag.

matching function */

for every input descriptor, find the best matching one (from one image to a set) */