Method getKeyFrame

src/dvins/pose_graph/src/pose_graph.cpp:289–302

}

KeyFrame* PoseGraph::getKeyFrame(int index)
{
//    unique_lock<mutex> lock(m_keyframelist);
    list<KeyFrame*>::iterator it = keyframelist.begin();
    for (; it != keyframelist.end(); it++)   
    {
        if((*it)->index == index)
            break;
    }
    if (it != keyframelist.end())
        return *it;
    else
        return NULL;
}

int PoseGraph::detectLoop(KeyFrame* keyframe, int frame_index)
{