async_sub_mapping.hpp

#pragma once
 
#include <atomic>
#include <thread>
#include <glim/mapping/sub_mapping.hpp>
#include <glim/util/concurrent_vector.hpp>
 
namespace glim {
 
class AsyncSubMapping {
public:
  AsyncSubMapping(const std::shared_ptr<glim::SubMappingBase>& sub_mapping);
 
  ~AsyncSubMapping();
 
#ifdef GLIM_USE_OPENCV
  void insert_image(const double stamp, const cv::Mat& image);
#endif
 
  void insert_imu(const double stamp, const Eigen::Vector3d& linear_acc, const Eigen::Vector3d& angular_vel);
 
  void insert_frame(const EstimationFrame::ConstPtr& odom_frame);
 
  void join();
 
  int workload() const;
 
  std::vector<SubMap::Ptr> get_results();
 
private:
  void run();
 
private:
  std::atomic_bool kill_switch;      // Flag to stop the thread immediately (Hard kill switch)
  std::atomic_bool end_of_sequence;  // Flag to stop the thread when the input queues become empty (Soft kill switch)
  std::thread thread;
 
#ifdef GLIM_USE_OPENCV
  ConcurrentVector<std::pair<double, cv::Mat>> input_image_queue;
#endif
  ConcurrentVector<Eigen::Matrix<double, 7, 1>> input_imu_queue;
  ConcurrentVector<EstimationFrame::ConstPtr> input_frame_queue;
 
  ConcurrentVector<SubMap::Ptr> output_submap_queue;
 
  std::shared_ptr<glim::SubMappingBase> sub_mapping;
};
 
}  // namespace  glim