| 157 | } |
| 158 | |
| 159 | void mapping_module::queue_keyframe(data::keyframe *keyfrm) |
| 160 | { |
| 161 | std::lock_guard<std::mutex> lock(mtx_keyfrm_queue_); |
| 162 | keyfrms_queue_.push_back(keyfrm); |
| 163 | abort_local_BA_ = true; |
| 164 | } |
| 165 | |
| 166 | unsigned int mapping_module::get_num_queued_keyframes() const |
| 167 | { |