glim::GlobalMappingPoseGraph Class Reference

Global mapping with the old conventional pose graph optimization. More...

#include <global_mapping_pose_graph.hpp>

Inheritance diagram for glim::GlobalMappingPoseGraph:

Collaboration diagram for glim::GlobalMappingPoseGraph:

Public Member Functions
	GlobalMappingPoseGraph (const GlobalMappingPoseGraphParams &params=GlobalMappingPoseGraphParams())
virtual void	insert_submap (const SubMap::Ptr &submap) override
	Insert a SubMap.
virtual void	optimize () override
	Request to perform optimization.
virtual void	save (const std::string &path) override
	Save the mapping result.
virtual gtsam_points::PointCloud::Ptr	export_points () override
	Export all the submap points.
Public Member Functions inherited from glim::GlobalMappingBase
virtual void	insert_imu (const double stamp, const Eigen::Vector3d &linear_acc, const Eigen::Vector3d &angular_vel)
	Insert an IMU frame.
virtual void	find_overlapping_submaps (double min_overlap)
	Request to find new overlapping submaps.
virtual void	recover_graph ()
	Request to detect and recover graph corruption.

Additional Inherited Members
Static Public Member Functions inherited from glim::GlobalMappingBase
static std::shared_ptr< GlobalMappingBase >	load_module (const std::string &so_name)
	Load a global mapping module from a shared library.
Protected Attributes inherited from glim::GlobalMappingBase
std::shared_ptr< spdlog::logger >	logger

Detailed Description

Global mapping with the old conventional pose graph optimization.

Note

We recommend using GlobalMapping instead of this class if accuracy matters.

Member Function Documentation

export_points()

virtual gtsam_points::PointCloud::Ptr glim::GlobalMappingPoseGraph::export_points ( )

overridevirtual

Export all the submap points.

Reimplemented from glim::GlobalMappingBase.

insert_submap()

virtual void glim::GlobalMappingPoseGraph::insert_submap ( const SubMap::Ptr &  submap )

overridevirtual

Insert a SubMap.

Parameters

submap

SubMap

Reimplemented from glim::GlobalMappingBase.

optimize()

virtual void glim::GlobalMappingPoseGraph::optimize ( )

overridevirtual

Request to perform optimization.

Reimplemented from glim::GlobalMappingBase.

save()

virtual void glim::GlobalMappingPoseGraph::save ( const std::string &  path )

overridevirtual

Save the mapping result.

Parameters

path

Save path

Reimplemented from glim::GlobalMappingBase.

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

• /home/runner/work/glim/glim/include/glim/mapping/global_mapping_pose_graph.hpp