Function generate_room_keyframe

• Defined in File room_utils.hpp

Function Documentation

std::optional<std::pair<Eigen::Isometry3d, pcl::PointCloud<s_graphs::KeyFrame::PointT>::Ptr>> generate_room_keyframe(const s_graphs::Rooms &room, const std::unordered_map<int, s_graphs::VerticalPlanes> &x_vert_planes, const std::unordered_map<int, s_graphs::VerticalPlanes> &y_vert_planes, const std::map<int, s_graphs::KeyFrame::Ptr> &keyframes)