Method GetAtlasKeyframes

src/Atlas.cc:397–411

}

map<long unsigned int, KeyFrame*> Atlas::GetAtlasKeyframes()
{
    map<long unsigned int, KeyFrame*> mpIdKFs;
    for(Map* pMap_i : mvpBackupMaps)
    {
        vector<KeyFrame*> vpKFs_Mi = pMap_i->GetAllKeyFrames();

        for(KeyFrame* pKF_j_Mi : vpKFs_Mi)
        {
            mpIdKFs[pKF_j_Mi->mnId] = pKF_j_Mi;
        }
    }

    return mpIdKFs;
}

} //namespace ORB_SLAM3