Single result of a query

Single result of a query

Vector of nodes with indexes of local features

Vector of nodes with indexes of local features

BRIEF descriptor

BRIEF descriptor

Vector of words to represent images

Vector of words to represent images

This functor extracts BRIEF descriptors in the required format

forward declarations

General exception

General exception

Result of a detection

Reasons for dismissing loops

This class is used to detect lines from input image. * First, edges are extracted from input image following the method presented in Cihan Topal an

Functions to manipulate BRIEF descriptors

Functions to manipulate BRIEF descriptors

Generic class to encapsulate functions to manage descriptors. * This class must be inherited. Derived classes can be used as the * parameter F when c

Generic class to encapsulate functions to manage descriptors. * This class must be inherited. Derived classes can be used as the * parameter F when c

Base class of scoring functions

Base class of scoring functions

Geometrical checking methods

误差项： 15维 两个16维的待优化的变量： xi (7 + 9)， xj (7 + 9) */

This class help you to calibrate extrinsic rotation between imu and camera when your totally don't konw the extrinsic parameter */

L-norms for normalization

L-norms for normalization

private: struct to represent lines extracted from an octave */