glim::SubMappingPassthrough Class Reference

Sub mapping based on voxel-based simple frame merging. No optimization, no re-deskewing. More...

#include <sub_mapping_passthrough.hpp>

Inheritance diagram for glim::SubMappingPassthrough:

Collaboration diagram for glim::SubMappingPassthrough:

Public Member Functions
	SubMappingPassthrough (const SubMappingPassthroughParams &params=SubMappingPassthroughParams())
virtual void	insert_frame (const EstimationFrame::ConstPtr &odom_frame) override
	Insert an odometry estimation frame.
virtual std::vector< SubMap::Ptr >	get_submaps () override
	Get the created submaps.
virtual std::vector< SubMap::Ptr >	submit_end_of_sequence () override
	Submit the signal to tell end of sequence and collect the remaining submap data.
Public Member Functions inherited from glim::SubMappingBase
virtual void	insert_imu (const double stamp, const Eigen::Vector3d &linear_acc, const Eigen::Vector3d &angular_vel)
	Insert an IMU data.

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

Detailed Description

Sub mapping based on voxel-based simple frame merging. No optimization, no re-deskewing.

Member Function Documentation

get_submaps()

virtual std::vector< SubMap::Ptr > glim::SubMappingPassthrough::get_submaps ( )

overridevirtual

Get the created submaps.

Returns

Created submaps

Implements glim::SubMappingBase.

insert_frame()

virtual void glim::SubMappingPassthrough::insert_frame ( const EstimationFrame::ConstPtr &  frame )

overridevirtual

Insert an odometry estimation frame.

Parameters

odom_frame

Marginalized odometry estimation frame

Reimplemented from glim::SubMappingBase.

submit_end_of_sequence()

virtual std::vector< SubMap::Ptr > glim::SubMappingPassthrough::submit_end_of_sequence ( )

overridevirtual

Submit the signal to tell end of sequence and collect the remaining submap data.

Returns

std::vector<SubMap::Ptr>

Reimplemented from glim::SubMappingBase.

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

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