Struct KeyFrame

• Defined in File keyframe.hpp

Struct Documentation

struct KeyFrame

KeyFrame (pose node)

Public Types

using PointT = pcl::PointXYZI

using PointNormal = pcl::PointXYZRGBNormal

using Ptr = std::shared_ptr<KeyFrame>

Public Functions

KeyFrame(const rclcpp::Time &stamp, const Eigen::Isometry3d &odom, double accum_distance, const pcl::PointCloud<PointT>::ConstPtr &cloud)

Constructor for class KeyFrame.

Parameters:

• stamp –

• odom –

• accum_distance –

• cloud –

Returns:

KeyFrame(const std::string &directory, g2o::HyperGraph *graph)

Constructor for class KeyFrame.

Parameters:

• directory –

• graph –

virtual ~KeyFrame()

void save(const std::string &directory)

Saves the keyframe into a given directory.

Parameters:

directory –

bool load(const std::string &directory, g2o::HyperGraph *graph)

Loads the keyframes from a directory into the graph pointer.

Parameters:

• directory –

• graph –

Returns:

Success or failure

long id() const

Returns:

Eigen::Isometry3d estimate() const

Returns:

Public Members

rclcpp::Time stamp

Eigen::Isometry3d odom

double accum_distance

pcl::PointCloud<PointT>::ConstPtr cloud

pcl::PointCloud<PointNormal>::Ptr cloud_seg_body

std::vector<int> x_plane_ids

std::vector<int> y_plane_ids

std::vector<int> hort_plane_ids

boost::optional<Eigen::Vector4d> floor_coeffs

boost::optional<Eigen::Vector3d> utm_coord

boost::optional<Eigen::Vector3d> acceleration

boost::optional<Eigen::Quaterniond> orientation

g2o::VertexSE3 *node