Return the current frame for non keyframe frontend output

MIT-SPARK / Kimera-VIO

Visual Inertial Odometry with SLAM capabilities and 3D Mesh generation.

BSD 2-Clause "Simplified" License

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Open lperruch opened 3 years ago

lperruch commented 3 years ago

Allow to use frontend results between the keyframes. In particular, it is useful to have access to the timestamp of the current frame.