GPU-based tightly coupled LiDAR-IMU odometry. More...

Inheritance diagram for glim::OdometryEstimationGPU:

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Collaboration diagram for glim::OdometryEstimationGPU:

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Public Member Functions
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	OdometryEstimationGPU (const OdometryEstimationGPUParams &params=OdometryEstimationGPUParams())

Public Member Functions inherited from glim::OdometryEstimationIMU
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	OdometryEstimationIMU (std::unique_ptr< OdometryEstimationIMUParams > &&params)

virtual void	insert_imu (const double stamp, const Eigen::Vector3d &linear_acc, const Eigen::Vector3d &angular_vel) override
	Insert an IMU data.

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

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

Public Member Functions inherited from glim::OdometryEstimationBase
virtual bool	requires_imu () const
	Returns true if the odometry estimation module requires IMU data.

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 Types inherited from glim::OdometryEstimationIMU
using	FixedLagSmootherExt = gtsam_points::IncrementalFixedLagSmootherExtWithFallback

Protected Member Functions inherited from glim::OdometryEstimationIMU
virtual void	fallback_smoother ()

virtual void	update_smoother (const gtsam::NonlinearFactorGraph &new_factors, const gtsam::Values &new_values, const std::map< std::uint64_t, double > &new_stamp, int update_count=0)

virtual void	update_smoother (int update_count=1)

Protected Attributes inherited from glim::OdometryEstimationIMU
std::unique_ptr< OdometryEstimationIMUParams >	params

Eigen::Isometry3d	T_lidar_imu

Eigen::Isometry3d	T_imu_lidar

int	marginalized_cursor

gtsam_points::IndexedSlidingWindow< EstimationFrame::Ptr >	frames

std::unique_ptr< InitialStateEstimation >	init_estimation

std::unique_ptr< IMUIntegration >	imu_integration

std::unique_ptr< CloudDeskewing >	deskewing

std::unique_ptr< CloudCovarianceEstimation >	covariance_estimation

std::unique_ptr< FixedLagSmootherExt >	smoother

std::shared_ptr< void >	tbb_task_arena

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

Detailed Description

GPU-based tightly coupled LiDAR-IMU odometry.

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

Public Member Functions