Class KeyframePointCloudMap::KeyFrame

Defined in File KeyframePointCloudMap.h

Nested Relationships

This class is a nested type of Class KeyframePointCloudMap.

Class Documentation

class KeyFrame

Key-frame data

Public Functions

inline KeyFrame(std::size_t k_correspondences_for_cov)

inline KeyFrame(const KeyFrame &other)

inline KeyFrame &operator=(const KeyFrame &other)

~KeyFrame() = default

KeyFrame(KeyFrame&&) noexcept = default

KeyFrame &operator=(KeyFrame&&) noexcept = default

inline void pointcloud(const mrpt::maps::CPointsMap::Ptr &pc): Local metric map for this key-frame. Points are already transformed from the sensor frame to the vehicle (“base_link”) frame.

inline const mrpt::maps::CPointsMap::Ptr &pointcloud() const

inline const mrpt::maps::CPointsMap::Ptr &pointcloud_global() const

inline void pose(const mrpt::poses::CPose3D &pose): Sets the pose of the key-frame in the map reference frame.

inline const mrpt::poses::CPose3D &pose() const: Gets the pose of the key-frame in the map reference frame.

mrpt::math::TBoundingBoxf localBoundingBox() const

void buildCache() const: Ensures the bbox, the kd-tree, and the covariances are built.

inline void invalidateCache()

inline const auto &covariancesGlobal() const

std::shared_ptr<mrpt::opengl::CPointCloudColoured> getViz(const TRenderOptions &ro) const: Builds (or get cached) visualization of the cloud in this KF, already transformed to its global pose.

Public Members

mrpt::Clock::time_point timestamp: Timestamp of the key-frame (from observation)