Class SparseMap

include/SparseMap.h:15–23

Sparse point-cloud map for visualization and export. Hold each keyframe's depth-valid feature points in the keyframe camera frame; cloud() lifts them to the world frame using the loop-corrected keyframe anchors. Output-only; not used for tracking.

// to the world frame using the loop-corrected keyframe anchors. Output-only;
// not used for tracking.
class SparseMap {
public:
  void add_keyframe(size_t keyframe_id, const std::vector<gtsam::Point3>& camera_points);
  std::vector<gtsam::Point3> cloud(const std::map<size_t, gtsam::Pose3>& anchors) const;
  size_t keyframe_count() const { return points_.size(); }

private:
  std::map<size_t, std::vector<gtsam::Point3>> points_;
};

} // namespace superslam