struct mola::LocalMapCorrection

Overview

Notice that the poses of some keyframes changed (e.g. after a loop closure), so a front end whose local map was built from them may rebuild it. It only says that something changed: the front end then asks for the keyframes with LocalMapCorrectionSource::local_map_keyframes().

#include <LocalMapCorrectionSource.h>

struct LocalMapCorrection
{
    // fields

    mrpt::Clock::time_point timestamp;
    std::size_t new_loop_closures = 0;
};

Fields

mrpt::Clock::time_point timestamp

Time of the newest keyframe included in the correction.

std::size_t new_loop_closures = 0

Loop closures added since the previous correction.