Program Listing for File keyframe-pruning.h

Return to documentation for file (console-plugins/map-sparsification-plugin/include/map-sparsification-plugin/keyframe-pruning.h)

#ifndef MAP_SPARSIFICATION_PLUGIN_KEYFRAME_PRUNING_H_
#define MAP_SPARSIFICATION_PLUGIN_KEYFRAME_PRUNING_H_

#include <string>

#include <console-common/console-plugin-base-with-plotter.h>
#include <console-common/console.h>
#include <map-sparsification/keyframe-pruning.h>
#include <vi-map/vi-map.h>

namespace map_sparsification_plugin {

int keyframeMapBasedOnHeuristics(
    const map_sparsification::KeyframingHeuristicsOptions& options,
    const vi_map::MissionId& mission_id,
    const visualization::ViwlsGraphRvizPlotter* plotter, vi_map::VIMap* map);

}  // namespace map_sparsification_plugin
#endif  // MAP_SPARSIFICATION_PLUGIN_KEYFRAME_PRUNING_H_