GAAS

//计算平均视差.
namespace mcs{

//struct MeanDisparity_T
//{
//    weak_ptr<Frame> priorFrame;
//    weak_ptr<Frame> refFrame;
//    map<int,std::pair<Point2f,double> > p3d_id_to_p2d_and_disp;
//    MeanDisparity_T()
//    {
//        ;
//    }
//};


double calcMeanDispBetween2Frames(shared_ptr<Frame> pCurrent,shared_ptr<Frame> pReferringKeyFrame)
{
    double mean_disp;
    //.....//TODO:
    return mean_disp;
}


}