Function map_sparsification::selectKeyframesBasedOnHeuristics

Function Documentation

size_t map_sparsification::selectKeyframesBasedOnHeuristics(const vi_map::VIMap &map, const pose_graph::VertexId &start_keyframe_id, const pose_graph::VertexId &end_vertex_id, const KeyframingHeuristicsOptions &options, std::vector<pose_graph::VertexId> *selected_keyframes)