global_mapping_base.hpp

#pragma once
 
#include <Eigen/Core>
#include <Eigen/Geometry>
#ifdef GLIM_USE_OPENCV
#include <opencv2/core.hpp>
#endif
 
#include <glim/mapping/sub_map.hpp>
#include <gtsam_points/types/point_cloud.hpp>
 
namespace spdlog {
class logger;
}
 
namespace glim {
 
class GlobalMappingBase {
public:
  GlobalMappingBase();
  virtual ~GlobalMappingBase() {}
 
#ifdef GLIM_USE_OPENCV
  virtual void insert_image(const double stamp, const cv::Mat& image);
#endif
 
  virtual void insert_imu(const double stamp, const Eigen::Vector3d& linear_acc, const Eigen::Vector3d& angular_vel);
 
  virtual void insert_submap(const SubMap::Ptr& submap);
 
  virtual void find_overlapping_submaps(double min_overlap);
 
  virtual void optimize();
 
  virtual void recover_graph();
 
  virtual void save(const std::string& path) {}
 
  virtual gtsam_points::PointCloud::Ptr export_points() { return nullptr; }
 
  static std::shared_ptr<GlobalMappingBase> load_module(const std::string& so_name);
 
protected:
  std::shared_ptr<spdlog::logger> logger;
};
}  // namespace glim