Class DataPublisherFlow

Class Documentation

class maplab::DataPublisherFlow

Public Functions

explicit DataPublisherFlow(const vi_map::SensorManager &sensor_manager)
void attachToMessageFlow(message_flow::MessageFlow *flow)
void visualizeMap(const vi_map::VIMap &vi_map) const

Public Members

const std::string kTopicPoseMission = "T_M_B"
const std::string kTopicPoseGlobal = "T_G_I"
const std::string kTopicBaseframe = "T_G_M"
const std::string kTopicVelocity = "velocity_I"
const std::string kTopicBiasAcc = "bias_acc"
const std::string kTopicBiasGyro = "bias_gyro"
const std::string kCameraExtrinsicTopic = "cam_T_C_B"
const std::string kTopicLocalizationResult = "localization_T_G_B"
const std::string kTopicLocalizationResultFused = "localization_fused_T_G_B"