Function map_sparsification_plugin::keyframeMapBasedOnHeuristics

Function Documentation

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