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mrpt::slam::map_keyframe_t Struct Reference

Detailed Description

Map keyframe, comprising raw observations and they as a metric map.

For use in CIncrementalMapPartitioner

Definition at line 40 of file CIncrementalMapPartitioner.h.

#include <mrpt/slam/CIncrementalMapPartitioner.h>

Public Attributes

uint32_t kf_id { 0 }
 
mrpt::maps::CMultiMetricMap::Ptr metric_map
 
mrpt::obs::CSensoryFrame::Ptr raw_observations
 

Member Data Documentation

◆ kf_id

uint32_t mrpt::slam::map_keyframe_t::kf_id { 0 }

◆ metric_map

mrpt::maps::CMultiMetricMap::Ptr mrpt::slam::map_keyframe_t::metric_map

◆ raw_observations

mrpt::obs::CSensoryFrame::Ptr mrpt::slam::map_keyframe_t::raw_observations



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