callbacks.hpp

#pragma once
 
#include <map>
#include <glim/util/callback_slot.hpp>
#include <glim/odometry/estimation_frame.hpp>
 
#ifdef GLIM_USE_OPENCV
namespace cv {
class Mat;
}
#endif
 
namespace gtsam {
class Values;
class NonlinearFactorGraph;
}  // namespace gtsam
 
namespace gtsam_points {
class IncrementalFixedLagSmootherExt;
class IncrementalFixedLagSmootherExtWithFallback;
}  // namespace gtsam_points
 
namespace glim {
 
struct IMUStateInitializationCallbacks {
public:
  static CallbackSlot<void(const PreprocessedFrame::ConstPtr& points, const Eigen::Isometry3d& T_odom_lidar)> on_updated;
 
  static CallbackSlot<void(const EstimationFrame::ConstPtr& estimated_frame)> on_finished;
};
 
struct OdometryEstimationCallbacks {
#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 PreprocessedFrame::Ptr& frame)> on_insert_frame;
 
  static CallbackSlot<void(const EstimationFrame::ConstPtr& frame)> on_new_frame;
 
  static CallbackSlot<void(const EstimationFrame::ConstPtr& frame)> on_update_new_frame;
 
  static CallbackSlot<void(const std::vector<EstimationFrame::ConstPtr>& frames)> on_update_frames;
 
  static CallbackSlot<void(const std::vector<EstimationFrame::ConstPtr>& keyframes)> on_update_keyframes;
 
  static CallbackSlot<void(const std::vector<EstimationFrame::ConstPtr>& marginalized_frames)> on_marginalized_frames;
 
  static CallbackSlot<void(const std::vector<EstimationFrame::ConstPtr>& marginalized_keyframes)> on_marginalized_keyframes;
 
  static CallbackSlot<void(
    gtsam_points::IncrementalFixedLagSmootherExtWithFallback& smoother,
    gtsam::NonlinearFactorGraph& new_factors,
    gtsam::Values& new_values,
    std::map<std::uint64_t, double>& new_stamps)>
    on_smoother_update;
 
  static CallbackSlot<void(gtsam_points::IncrementalFixedLagSmootherExtWithFallback& smoother)> on_smoother_update_finish;
 
  static CallbackSlot<void(double)> on_smoother_corruption;
};
 
}  // namespace glim