struct mrpt::slam::map_keyframe_t

Overview

Map keyframe, comprising raw observations and they as a metric map.

For use in CIncrementalMapPartitioner

#include <mrpt/slam/CIncrementalMapPartitioner.h>

struct map_keyframe_t
{
    // fields

    uint32_t kf_id {0};
    mrpt::maps::CMultiMetricMap::Ptr metric_map;
    mrpt::obs::CSensoryFrame::Ptr raw_observations;
};