plsvo

1 图像对齐

  std::for_each(ref_frame->seg_fts_.begin(), ref_frame->seg_fts_.end(), [&](plsvo::Feature* i){
    LineFeat* seg = static_cast<LineFeat*>(i);
    total_length += seg->length;
  });

计算一帧线特征的累积长度

int max_num_seg_samples = std::ceil( total_length / patch_size_ );

计算得到线特征的最大数量

设置缓存结构以分配优化数据（残留物，jacobians等）