LiDAR-only odometry estimation based on CT-GICP scan-to-model matching. More...

Inheritance diagram for glim::OdometryEstimationCT:

Collaboration diagram for glim::OdometryEstimationCT:

Public Member Functions
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	OdometryEstimationCT (const OdometryEstimationCTParams &params=OdometryEstimationCTParams())

virtual bool	requires_imu () const override
	Returns true if the odometry estimation module requires IMU data.

virtual EstimationFrame::ConstPtr	insert_frame (const PreprocessedFrame::Ptr &frame, std::vector< EstimationFrame::ConstPtr > &marginalized_frames) override
	Insert a point cloud.

Public Member Functions inherited from glim::OdometryEstimationBase
virtual void	insert_imu (const double stamp, const Eigen::Vector3d &linear_acc, const Eigen::Vector3d &angular_vel)
	Insert an IMU data.

virtual std::vector< EstimationFrame::ConstPtr >	get_remaining_frames ()
	Pop out the remaining non-marginalized frames (called at the end of the sequence)

Additional Inherited Members
Static Public Member Functions inherited from glim::OdometryEstimationBase
static std::shared_ptr< OdometryEstimationBase >	load_module (const std::string &so_name)
	Load an odometry estimation module from a dynamic library.

Protected Attributes inherited from glim::OdometryEstimationBase
std::shared_ptr< spdlog::logger >	logger

Detailed Description

LiDAR-only odometry estimation based on CT-GICP scan-to-model matching.

Member Function Documentation

virtual EstimationFrame::ConstPtr glim::OdometryEstimationCT::insert_frame	(	const PreprocessedFrame::Ptr &	frame,
		std::vector< EstimationFrame::ConstPtr > &	marginalized_states
	)

overridevirtual

Insert a point cloud.

Parameters

frame	Preprocessed point cloud
marginalized_states	[out] Marginalized estimation frames

virtual bool glim::OdometryEstimationCT::requires_imu ( ) const

inlineoverridevirtual

Returns true if the odometry estimation module requires IMU data.

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