Method keyframe_callback

tinynav/core/build_map_node.py:702–706

(self, keyframe_image_msg:Image, keyframe_odom_msg:Odometry, depth_msg:Image, rgb_image_msg:Image)

            fx = self.K[0, 0]
            Tx = msg.p[3]
            self.baseline = -Tx / fx
            self.destroy_subscription(self.camera_info_sub)

    def continuous_odom_callback(self, odom_msg: Odometry):
        self.continuous_odom_recorder.record_odometry_msg(odom_msg)

    def mapping_stop_callback(self, msg: Bool):
        if msg.data: