struct mola::LocalMapKeyframe

Overview

One keyframe given back to a front end, with its current pose estimate.

#include <LocalMapCorrectionSource.h>

struct LocalMapKeyframe
{
    // fields

    SharedKeyframeMap::KeyFrameID id = 0;
    mrpt::Clock::time_point timestamp;
    std::string source_frame_id;
    mrpt::poses::CPose3D pose_from_reference;
    mrpt::obs::CSensoryFrame observations;
};

Fields

std::string source_frame_id

The source_frame_id of the front end that inserted it.

mrpt::poses::CPose3D pose_from_reference

Pose of the keyframe (vehicle frame) relative to the reference keyframe of the query.

mrpt::obs::CSensoryFrame observations

Its observations, as inserted (SharedKeyframeMap::KeyframeInsertRequest).