Method ShouldCreateKeyframe

src/processing/Estimator.cpp:982–1001

}

bool Estimator::ShouldCreateKeyframe() {
    if (!m_current_frame || !m_last_keyframe) {
        return false;
    }
    
    // Get parallax threshold from config
    const auto& config = ConfigUtils::GetInstance();
    float parallax_threshold = config.tracking_min_parallax_for_keyframe;
    
    // Compute parallax between last keyframe and current frame
    float parallax = ComputeParallax(m_last_keyframe, m_current_frame);
    
    // Create keyframe if parallax exceeds threshold
    if (parallax >= parallax_threshold) {
        LOG_DEBUG("Parallax {:.2f} >= {:.2f}, creating new keyframe", parallax, parallax_threshold);
        return true;
    }
    
    return false;
}

void Estimator::CreateKeyframe() {
    if (!m_current_frame) {