Class KeyframeRecord

include/KeyframeDatabase.h:17–27

One keyframe's persisted state for loop closure. The authoritative optimized pose lives in the GlobalPoseGraph (keyed by keyframe_id); pose_at_insert is a cached seed for geometric verification. Keep local features (keypoints_left, descriptors_left, stereo); a loop candidate is re-matched with LightGlue and back-projected.

// (keypoints_left, descriptors_left, stereo); a loop candidate is re-matched
// with LightGlue and back-projected.
struct KeyframeRecord {
  size_t keyframe_id = 0;
  double timestamp = 0.0;
  gtsam::Pose3 pose_at_insert;              // cached seed; not the source of truth
  std::vector<cv::KeyPoint> keypoints_left; // left keypoints
  cv::Mat descriptors_left;                 // [N x D] for LightGlue verification
  std::vector<gtsam::StereoPoint2> stereo;  // (uL, uR, v) per keypoint
  std::vector<char> has_depth;              // 1 if stereo-valid
  cv::Mat global_descriptor;                // [1 x Dg] for place recognition
  std::vector<size_t> covisible;            // keyframe_ids sharing landmarks (candidate pruning)
};

// Insertion-ordered store of keyframe records with O(1) id lookup.
class KeyframeDatabase {