Class KeyframeMapper

• Defined in File keyframe_mapper.hpp

Class Documentation

class KeyframeMapper

Public Functions

KeyframeMapper(const rclcpp::Node::SharedPtr node)

Constructor for class KeyframeMapper.

Parameters:

private_nh –

~KeyframeMapper()

int map_keyframes(std::shared_ptr<GraphSLAM> &covisibility_graph, Eigen::Isometry3d odom2map, std::deque<KeyFrame::Ptr> &keyframe_queue, std::map<int, KeyFrame::Ptr> &keyframes, std::deque<KeyFrame::Ptr> &new_keyframes, g2o::VertexSE3 *&anchor_node, g2o::EdgeSE3 *&anchor_edge, std::unordered_map<rclcpp::Time, KeyFrame::Ptr, RosTimeHash> &keyframe_hash)

Parameters:

• covisibility_graph –

• odom2map –

• keyframe_queue –

• keyframes –

• new_keyframes –

• anchor_node –

• anchor_edge –

• keyframe_hash –

Returns:

void map_keyframes(std::shared_ptr<GraphSLAM> &local_graph, std::shared_ptr<GraphSLAM> &covisibility_graph, const Eigen::Isometry3d &odom2map, std::deque<KeyFrame::Ptr> &keyframe_queue, std::map<int, s_graphs::KeyFrame::Ptr> &keyframes, g2o::VertexSE3 *&anchor_node, g2o::EdgeSE3 *&anchor_edge)

Parameters:

• local_graph –

• covisibility_graph –

• odom2map –

• keyframe_queue –

• keyframes –

• anchor_node –

• anchor_edge –

Returns:

* void

void add_anchor_node(std::shared_ptr<GraphSLAM> &local_graph, KeyFrame::Ptr keyframe, g2o::VertexSE3 *&anchor_node, g2o::EdgeSE3 *&anchor_edge, bool use_vertex_id = false)

Parameters:

• local_graph –

• keyframe –

• anchor_node –

• anchor_edge –

• use_vertex_size_id –

Returns:

* void

void remap_delayed_keyframe(std::shared_ptr<GraphSLAM> &covisibility_graph, KeyFrame::Ptr keyframe, KeyFrame::Ptr prev_keyframe)

Parameters:

• covisibility_graph –

• keyframe –

• prev_keyframe –

Returns:

* void