Struct KeyframeSelector 

pub struct KeyframeSelector { /* private fields */ }

Keyframe selector for visual odometry

Implementations

impl KeyframeSelector

pub fn new() -> Self

Create new keyframe selector with default config

pub fn with_config(config: KeyframeConfig) -> Self

Create new keyframe selector with custom config

pub fn should_be_keyframe( &mut self, rotation: &Matrix3<f64>, translation: &Vector3<f64>, num_matches: usize, ) -> bool

Check if current frame should be a keyframe

pub fn reset(&mut self)

Reset selector state

pub fn frames_since_last(&self) -> usize

Get frames since last keyframe