Class KeyframedMapBuilder

Class Documentation

class online_map_builders::KeyframedMapBuilder

Public Functions

KeyframedMapBuilder(const map_sparsification::KeyframingHeuristicsOptions &keyframing_options, const vi_map::SensorManager &sensor_manager, vi_map::VIMap *map)
void applyUpdateAndKeyframe(const vio::VioUpdate::ConstPtr &update)
void applyHeldBackUpdatesAndMarkAsKeyframes()
inline vi_map::MissionId getMissionId() const
inline pose_graph::VertexId getRootVertexId() const
inline pose_graph::VertexId getLastVertexId() const