Struct KeyFrameSnapshot

• Defined in File keyframe.hpp

Struct Documentation

struct KeyFrameSnapshot

KeyFramesnapshot for map cloud generation.

Public Types

using PointT = KeyFrame::PointT

using Ptr = std::shared_ptr<KeyFrameSnapshot>

Public Functions

KeyFrameSnapshot(const KeyFrame::Ptr &key)

Constructor for class KeyFramesnapshot.

Parameters:

key –

KeyFrameSnapshot(const Eigen::Isometry3d &pose, const pcl::PointCloud<PointT>::ConstPtr &cloud, const bool marginalized = false)

Constructor for class KeyFramesnapshot.

Parameters:

key –

~KeyFrameSnapshot()

Public Members

Eigen::Isometry3d pose

pcl::PointCloud<PointT>::ConstPtr cloud

bool k_marginalized = false