glim::SubMap Struct Reference

SubMap. More...

#include <sub_map.hpp>

Public Types
using	Ptr = std::shared_ptr< SubMap >
using	ConstPtr = std::shared_ptr< const SubMap >

Public Member Functions
void	drop_frame_points ()
	Remove point clouds of the odometry estimation frames (to save memory)
EstimationFrame::ConstPtr	origin_frame () const
	Get the origin frame.
EstimationFrame::ConstPtr	origin_odom_frame () const
	Get the origin odometry frame.
template<typename T >
T *	get_custom_data (const std::string &key)
	Get the custom data and cast it to the specified type.
template<typename T >
const T *	get_custom_data (const std::string &key) const
	Get the custom data and cast it to the specified type.
void	save (const std::string &path) const
	Save the submap.

Static Public Member Functions
static SubMap::Ptr	load (const std::string &path)
	Load a submap from storage.

Public Attributes
int	id
	submap ID
int	session_id
	session ID (Used for only offline mapping)
Eigen::Isometry3d	T_world_origin
	frame[frame.size() / 2] pose w.r.t. the world
Eigen::Isometry3d	T_origin_endpoint_L
	frame.front() pose w.r.t. the origin
Eigen::Isometry3d	T_origin_endpoint_R
	frame.back() pose w.r.t. the origin
gtsam_points::PointCloud::Ptr	frame
	Merged submap frame.
std::vector< gtsam_points::GaussianVoxelMap::Ptr >	voxelmaps
	Multi-resolution voxelmaps.
std::vector< EstimationFrame::ConstPtr >	frames
	Optimized odometry frames.
std::vector< EstimationFrame::ConstPtr >	odom_frames
	Original odometry frames.
std::unordered_map< std::string, std::shared_ptr< void > >	custom_data
	User-defined custom data.

Detailed Description

SubMap.

Member Function Documentation

get_custom_data() [1/2]

template<typename T >

T * glim::SubMap::get_custom_data ( const std::string &  key )

inline

Get the custom data and cast it to the specified type.

Note

This method does not check the type of the custom data.

Parameters

key	Key of the custom data

Returns

T* Pointer to the custom data. nullptr if not found.

get_custom_data() [2/2]

template<typename T >

const T * glim::SubMap::get_custom_data ( const std::string &  key ) const

inline

Get the custom data and cast it to the specified type.

Note

This method does not check the type of the custom data.

Parameters

key	Key of the custom data

Returns

T* Pointer to the custom data. nullptr if not found.

load()

static SubMap::Ptr glim::SubMap::load ( const std::string &  path )

static

Load a submap from storage.

Parameters

path

Load path

Returns

SubMap::Ptr Loaded SubMap

nullptr if failed to load

save()

void glim::SubMap::save

(

const std::string &

path

)

const

Save the submap.

Parameters

path

Save path

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

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