glim::OdometryEstimationCallbacks Struct Reference

Odometry estimation-related callbacks. More...

#include <callbacks.hpp>

Collaboration diagram for glim::OdometryEstimationCallbacks:

Static Public Attributes
static CallbackSlot< void(const double stamp, const Eigen::Vector3d &linear_acc, const Eigen::Vector3d &angular_vel)>	on_insert_imu
	IMU input callback.
static CallbackSlot< void(const PreprocessedFrame::Ptr &frame)>	on_insert_frame
	PointCloud input callback.
static CallbackSlot< void(const EstimationFrame::ConstPtr &frame)>	on_new_frame
	New odometry estimation frame creation callback (Sensor state predicted with IMU forward integration)
static CallbackSlot< void(const EstimationFrame::ConstPtr &frame)>	on_update_new_frame
	New odometry estimation frame update callback (Sensor state corrected with point cloud observation)
static CallbackSlot< void(const std::vector< EstimationFrame::ConstPtr > &frames)>	on_update_frames
	Odometry estimation frames update callback.
static CallbackSlot< void(const std::vector< EstimationFrame::ConstPtr > &keyframes)>	on_update_keyframes
	Odometry estimation keyframes update callback.
static CallbackSlot< void(const std::vector< EstimationFrame::ConstPtr > &marginalized_frames)>	on_marginalized_frames
	Odometry estimation frame marginalization callback.
static CallbackSlot< void(const std::vector< EstimationFrame::ConstPtr > &marginalized_keyframes)>	on_marginalized_keyframes
	Odometry estimation keyframe marginalization callback.
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
	Odometry estimation optimization callback (just before optimization)
static CallbackSlot< void(gtsam_points::IncrementalFixedLagSmootherExtWithFallback &smoother)>	on_smoother_update_finish
	Odometry estimation optimization callback (just after optimization)
static CallbackSlot< void(double)>	on_smoother_corruption
	Smoother corruption callback.

Detailed Description

Odometry estimation-related callbacks.

Member Data Documentation

on_insert_frame

CallbackSlot<void(const PreprocessedFrame::Ptr& frame)> glim::OdometryEstimationCallbacks::on_insert_frame

static

PointCloud input callback.

Parameters

frame

Preprocessed point cloud frame

on_insert_imu

CallbackSlot<void(const double stamp, const Eigen::Vector3d& linear_acc, const Eigen::Vector3d& angular_vel)> glim::OdometryEstimationCallbacks::on_insert_imu

static

IMU input callback.

Parameters

stamp	Timestamp
linear_acc	Linear acceleration
angular_vel	Angular velocity

on_marginalized_frames

CallbackSlot<void(const std::vector<EstimationFrame::ConstPtr>& marginalized_frames)> glim::OdometryEstimationCallbacks::on_marginalized_frames

static

Odometry estimation frame marginalization callback.

Parameters

marginalized_frames

Marginalized odometry frames

on_marginalized_keyframes

CallbackSlot<void(const std::vector<EstimationFrame::ConstPtr>& marginalized_keyframes)> glim::OdometryEstimationCallbacks::on_marginalized_keyframes

static

Odometry estimation keyframe marginalization callback.

Parameters

marginalized_keyframes

Marginalized odometry keyframes

on_new_frame

CallbackSlot<void(const EstimationFrame::ConstPtr& frame)> glim::OdometryEstimationCallbacks::on_new_frame

static

New odometry estimation frame creation callback (Sensor state predicted with IMU forward integration)

Parameters

frame

Odometry estimation frame (deskewed points and initial transformation estimate)

on_smoother_corruption

CallbackSlot<void(double)> glim::OdometryEstimationCallbacks::on_smoother_corruption

static

Smoother corruption callback.

Note

We should not forget that FixedLagSmoothers are in "gtsam_unstable" directory!!

on_smoother_update

CallbackSlot<void( gtsam_points::IncrementalFixedLagSmootherExtWithFallback& smoother, gtsam::NonlinearFactorGraph& new_factors, gtsam::Values& new_values, std::map<std::uint64_t, double>& new_stamps)> glim::OdometryEstimationCallbacks::on_smoother_update

static

Odometry estimation optimization callback (just before optimization)

Parameters

smoother	FixedLagSmoother
new_factors	New factors to be inserted into the graph
new_values	New values to be inserted into the graph

on_smoother_update_finish

CallbackSlot<void(gtsam_points::IncrementalFixedLagSmootherExtWithFallback& smoother)> glim::OdometryEstimationCallbacks::on_smoother_update_finish

static

Odometry estimation optimization callback (just after optimization)

Parameters

smoother

FixedLagSmoother

on_update_frames

CallbackSlot<void(const std::vector<EstimationFrame::ConstPtr>& frames)> glim::OdometryEstimationCallbacks::on_update_frames

static

Odometry estimation frames update callback.

Parameters

frames

Updated frames

Note

Sensor states will be updated in the odometry estimation thread Accessing them from another thread is not thread-safe

on_update_keyframes

CallbackSlot<void(const std::vector<EstimationFrame::ConstPtr>& keyframes)> glim::OdometryEstimationCallbacks::on_update_keyframes

static

Odometry estimation keyframes update callback.

Parameters

keyframes

Updated keyframes

Note

Sensor states will be updated in the odometry estimation thread Accessing them from another thread is not thread-safe

on_update_new_frame

CallbackSlot<void(const EstimationFrame::ConstPtr& frame)> glim::OdometryEstimationCallbacks::on_update_new_frame

static

New odometry estimation frame update callback (Sensor state corrected with point cloud observation)

Parameters

frame

Updated odometry estimation frame

Note

This is equivalent to on_update_frames with only the latest frame

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

• /home/runner/work/glim/glim/include/glim/odometry/callbacks.hpp