callbacks.hpp

#pragma once
 
#include <glim/util/callback_slot.hpp>
#include <glim/odometry/estimation_frame.hpp>
#include <glim/mapping/sub_map.hpp>
 
#ifdef GLIM_USE_OPENCV
namespace cv {
class Mat;
}
#endif
 
namespace gtsam {
class Values;
class NonlinearFactorGraph;
}  // namespace gtsam
 
namespace gtsam_points {
class ISAM2Ext;
class ISAM2ResultExt;
class LevenbergMarquardtOptimizationStatus;
}  // namespace gtsam_points
 
namespace glim {
 
struct SubMappingCallbacks {
#ifdef GLIM_USE_OPENCV
  static CallbackSlot<void(const double stamp, const cv::Mat& image)> on_insert_image;
#endif
 
  static CallbackSlot<void(const double stamp, const Eigen::Vector3d& linear_acc, const Eigen::Vector3d& angular_vel)> on_insert_imu;
 
  static CallbackSlot<void(const EstimationFrame::ConstPtr& frame)> on_insert_frame;
 
  static CallbackSlot<void(int id, const EstimationFrame::ConstPtr& keyframe)> on_new_keyframe;
 
  static CallbackSlot<void(gtsam::NonlinearFactorGraph& graph, gtsam::Values& values)> on_optimize_submap;
 
  static CallbackSlot<void(const gtsam_points::LevenbergMarquardtOptimizationStatus& status, const gtsam::Values& values)> on_optimization_status;
 
  static CallbackSlot<void(const SubMap::ConstPtr& submap)> on_new_submap;
};
 
struct GlobalMappingCallbacks {
#ifdef GLIM_USE_OPENCV
  static CallbackSlot<void(const double stamp, const cv::Mat& image)> on_insert_image;
#endif
 
  static CallbackSlot<void(const double stamp, const Eigen::Vector3d& linear_acc, const Eigen::Vector3d& angular_vel)> on_insert_imu;
 
  static CallbackSlot<void(const SubMap::ConstPtr& submap)> on_insert_submap;
 
  static CallbackSlot<void(const std::vector<SubMap::Ptr>& submaps)> on_update_submaps;
 
  static CallbackSlot<void(gtsam_points::ISAM2Ext& isam2, gtsam::NonlinearFactorGraph& new_factors, gtsam::Values& new_values)> on_smoother_update;
 
  static CallbackSlot<void(gtsam_points::ISAM2Ext& isam2, const gtsam_points::ISAM2ResultExt& result)> on_smoother_update_result;
 
  static CallbackSlot<void()> request_to_optimize;
 
  static CallbackSlot<void()> request_to_recover;
 
  static CallbackSlot<void(double)> request_to_find_overlapping_submaps;
};
}  // namespace glim