* Says whether this score is less than the score of another island * @param b * @return true iff this score < b.score */

* Says whether this score is greater than the score of another island * @param b * @return true iff this score > b.score */

definition of operator () */

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

Check if the spline has been calculated, then generate the spline interpolated value

* 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 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 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 */

* Compares the scores of two results * @return true iff this.score > r.score */

define DebugFactor

获取光心到直线的垂直点

从相机坐标系到世界坐标系

print code */

thread: visual-inertial odometry

execute a single query */

for every input desciptor, find all the ones falling in a certaing matching radius (for a pair of images) */