refactor of anticipated visual information

plusk01 / Anticipated-VINS-Mono

visual-inertial odometry (VINS-Mono) with motion-aware feature selection

GNU General Public License v3.0

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Closed plusk01 closed 5 years ago

plusk01 commented 5 years ago

refactored code to perform efficient block matrix operations
wrote the report section on visual feature information, with implementation details for efficient block matrix operations
made/edited some figures
used nanoflann to find k-nearest neighbors to guess depth of new features