File keyframe.hpp

↰ Parent directory (/home/runner/work/slam-mer/slam-mer/map/include)

Keyframe data container and access helpers for the SLAM map module.

Definition (/home/runner/work/slam-mer/slam-mer/map/include/keyframe.hpp)

Detailed Description

Copyright (C) 2026 Mitsubishi Electric Research Laboratories (MERL) SPDX-License-Identifier: AGPL-3.0-or-later

Declares keyframe_t, which stores camera sensor data, initial and optimized poses, 2D keypoints, descriptor sets, and map-point links. The API provides access helpers and weak-pointer-safe static wrappers used by mapping, localization, and visualization code paths. Pedro Miraldo

Valter Piedade

Includes

• sensor_data.hpp (File sensor_data.hpp)

• types/descriptor.hpp (File descriptor.hpp)

• types/output.hpp (File output.hpp)

• types/point2d.hpp (File point2d.hpp)

• types/point3d.hpp (File point3d.hpp)

• types/pose.hpp (File pose.hpp)

Included By

• File map.hpp

Namespaces

• Namespace slam_mer

Classes

• Class keyframe_t

Functions

• Function slam_mer::___saniy_retrieve

• Function slam_mer::__fail_retrieve(const output_t<keyframe_t::shared_ptr>&, const keyframe_id_t&)

• Function slam_mer::__fail_retrieve(const output_t<keyframe_t::weak_ptr>&, const keyframe_id_t&)

• Function slam_mer::__fail_retrieve(const output_t<keyframe_t::weak_ptr>&)

• Function slam_mer::__sanity_retrieve(const output_t<keyframe_t::weak_ptr>&, const keyframe_id_t&)

• Function slam_mer::__sanity_retrieve(const output_t<keyframe_t::weak_ptr>&)