Function map_sparsification::selectKeyframesBasedOnHeuristics¶
Defined in File keyframe-pruning.h
Function Documentation¶
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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)¶