sub_mapping_base.hpp

#pragma once
 
#include <Eigen/Core>
#include <Eigen/Geometry>
#ifdef GLIM_USE_OPENCV
#include <opencv2/core.hpp>
#endif
 
#include <glim/odometry/estimation_frame.hpp>
#include <glim/mapping/sub_map.hpp>
 
namespace spdlog {
class logger;
}
 
namespace glim {
 
class SubMappingBase {
public:
  SubMappingBase();
  virtual ~SubMappingBase() {}
 
#ifdef GLIM_USE_OPENCV
  virtual void insert_image(const double stamp, const cv::Mat& image);
#endif
 
  virtual void insert_imu(const double stamp, const Eigen::Vector3d& linear_acc, const Eigen::Vector3d& angular_vel);
 
  virtual void insert_frame(const EstimationFrame::ConstPtr& frame);
 
  virtual std::vector<SubMap::Ptr> get_submaps() = 0;
 
  virtual std::vector<SubMap::Ptr> submit_end_of_sequence() { return std::vector<SubMap::Ptr>(); }
 
  static std::shared_ptr<SubMappingBase> load_module(const std::string& so_name);
 
protected:
  // Logging
  std::shared_ptr<spdlog::logger> logger;
};
}  // namespace glim