publicUnclaimed/

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Design files

Lambdaadded imu helper;will try isam2;if failed,use a mean-disparity based keyframe creation method7569f9fb1

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Source

#ifndef LOOP_UTILS_H
#define LOOP_UTILS_H
struct LoopMessage
{
    int prev_gog_frame_id;
    int loop_gog_frame_id;
    double x,y,z,w;
    double px,py,pz;
};


#endif