Method initialize_map_with_plane

src/PLPSLAM/planar_mapping_module.cc:68–76

    }

    bool Planar_Mapping_module::initialize_map_with_plane(data::keyframe *keyfrm)
    {
        if (keyfrm->will_be_erased())
        {
            return false;
        }

        return process_new_kf(keyfrm);
    }

    bool Planar_Mapping_module::process_new_kf(data::keyframe *keyfrm)
    {