glim::SubMappingCallbacks Struct Reference

Sub mapping-related callbacks. More...

#include <callbacks.hpp>

Collaboration diagram for glim::SubMappingCallbacks:

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 EstimationFrame::ConstPtr &frame)>	on_insert_frame
	Odometry estimation result input callback.
static CallbackSlot< void(int id, const EstimationFrame::ConstPtr &keyframe)>	on_new_keyframe
	SubMap keyframe creation callback.
static CallbackSlot< void(gtsam::NonlinearFactorGraph &graph, gtsam::Values &values)>	on_optimize_submap
	SubMap optimization callback (just before optimization)
static CallbackSlot< void(const gtsam_points::LevenbergMarquardtOptimizationStatus &status, const gtsam::Values &values)>	on_optimization_status
	Optimization status callback.
static CallbackSlot< void(const SubMap::ConstPtr &submap)>	on_new_submap
	SubMap creation callback.

Detailed Description

Sub mapping-related callbacks.

Member Data Documentation

on_insert_frame

CallbackSlot<void(const EstimationFrame::ConstPtr& frame)> glim::SubMappingCallbacks::on_insert_frame

static

Odometry estimation result input callback.

Parameters

frame

Marginalized odometry estimation frame

on_insert_imu

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

static

IMU input callback.

Parameters

stamp	Timestamp
linear_acc	Linear acceleration
angular_vel	Angular velocity

on_new_keyframe

CallbackSlot<void(int id, const EstimationFrame::ConstPtr& keyframe)> glim::SubMappingCallbacks::on_new_keyframe

static

SubMap keyframe creation callback.

Parameters

id	SubMap ID
keyframe	New keyframe

on_new_submap

CallbackSlot<void(const SubMap::ConstPtr& submap)> glim::SubMappingCallbacks::on_new_submap

static

SubMap creation callback.

Parameters

submap

New SubMap

on_optimization_status

CallbackSlot<void(const gtsam_points::LevenbergMarquardtOptimizationStatus& status, const gtsam::Values& values)> glim::SubMappingCallbacks::on_optimization_status

static

Optimization status callback.

Parameters

status	Optimization status
values	Current estimate

on_optimize_submap

CallbackSlot<void(gtsam::NonlinearFactorGraph& graph, gtsam::Values& values)> glim::SubMappingCallbacks::on_optimize_submap

static

SubMap optimization callback (just before optimization)

Parameters

graph	Factor graph
values	Values to be optimized

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

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