mrpt::slam::map_keyframe_t Struct Reference

Detailed Description

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

For use in CIncrementalMapPartitioner

Definition at line 40 of file CIncrementalMapPartitioner.h.

#include <mrpt/slam/CIncrementalMapPartitioner.h>

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

Member Data Documentation

kf_id

uint32_t mrpt::slam::map_keyframe_t::kf_id { 0 }

Definition at line 42 of file CIncrementalMapPartitioner.h.

Referenced by mrpt::slam::CIncrementalMapPartitioner::addMapFrame().

metric_map

mrpt::maps::CMultiMetricMap::Ptr mrpt::slam::map_keyframe_t::metric_map

Definition at line 43 of file CIncrementalMapPartitioner.h.

Referenced by mrpt::slam::CIncrementalMapPartitioner::addMapFrame().

raw_observations

mrpt::obs::CSensoryFrame::Ptr mrpt::slam::map_keyframe_t::raw_observations

Definition at line 44 of file CIncrementalMapPartitioner.h.

Referenced by mrpt::slam::CIncrementalMapPartitioner::addMapFrame(), and eval_similarity_observation_overlap().