Class KeyframeUpdater

• Defined in File keyframe_updater.hpp

Class Documentation

class KeyframeUpdater

This class decides if a new frame should be registered to the pose graph as a keyframe.

Public Functions

inline EIGEN_MAKE_ALIGNED_OPERATOR_NEW KeyframeUpdater(const rclcpp::Node::SharedPtr node)

Constructor for class KeyframeUpdater.

Parameters:

node –

inline bool update(const Eigen::Isometry3d &pose)

Decide if a new frame should be registered to the graph.

Parameters:

pose – pose of the frame

Returns:

if true, the frame should be registered

inline double get_accum_distance() const

the last keyframe’s accumulated distance from the first keyframe

Returns:

accumulated distance