glim::AsyncOdometryEstimation Class Reference

Odometry estimation executor to wrap and asynchronously run OdometryEstimationBase. More...

#include <async_odometry_estimation.hpp>

Public Member Functions
	AsyncOdometryEstimation (const std::shared_ptr< OdometryEstimationBase > &odometry_estimation, bool enable_imu)
	Construct a new Async Odometry Estimation object.
	~AsyncOdometryEstimation ()
	Destroy the Async Odometry Estimation object.
void	insert_imu (const double stamp, const Eigen::Vector3d &linear_acc, const Eigen::Vector3d &angular_vel)
	Insert an IMU data into the odometry estimation.
void	insert_frame (const PreprocessedFrame::Ptr &frame)
	Insert a preprocessed point cloud into odometry estimation.
void	join ()
	Wait for the odometry estimation thread.
int	workload () const
	Get the size of the input queue.
void	get_results (std::vector< EstimationFrame::ConstPtr > &estimation_results, std::vector< EstimationFrame::ConstPtr > &marginalized_frames)
	Get the estimation results.

Detailed Description

Odometry estimation executor to wrap and asynchronously run OdometryEstimationBase.

Note

All the exposed public methods are thread-safe

Constructor & Destructor Documentation

AsyncOdometryEstimation()

glim::AsyncOdometryEstimation::AsyncOdometryEstimation	(	const std::shared_ptr< OdometryEstimationBase > &	odometry_estimation,
		bool	enable_imu
	)

Construct a new Async Odometry Estimation object.

Parameters

odometry_estimation

Odometry estimation to be wrapped

Member Function Documentation

get_results()

void glim::AsyncOdometryEstimation::get_results	(	std::vector< EstimationFrame::ConstPtr > &	estimation_results,
		std::vector< EstimationFrame::ConstPtr > &	marginalized_frames
	)

Get the estimation results.

Parameters

estimation_results	Estimation results
marginalized_frames	Marginalized frames

insert_frame()

void glim::AsyncOdometryEstimation::insert_frame

(

const PreprocessedFrame::Ptr &

frame

)

Insert a preprocessed point cloud into odometry estimation.

Parameters

frame

Preprocessed point cloud

insert_imu()

void glim::AsyncOdometryEstimation::insert_imu	(	const double	stamp,
		const Eigen::Vector3d &	linear_acc,
		const Eigen::Vector3d &	angular_vel
	)

Insert an IMU data into the odometry estimation.

Parameters

stamp	Timestamp
linear_acc	Linear acceleration
angular_vel	Angular velocity

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The documentation for this class was generated from the following file:

• /home/runner/work/glim/glim/include/glim/odometry/async_odometry_estimation.hpp