Class Synchronizer¶
Defined in File synchronizer.h
Class Documentation¶
-
class
maplab
::
Synchronizer
¶ Public Functions
-
Synchronizer
() = delete¶
-
explicit
Synchronizer
(const vi_map::SensorManager &sensor_manager)¶
-
~Synchronizer
()¶
-
void
processImuMeasurements
(const Eigen::Matrix<int64_t, 1, Eigen::Dynamic> ×tamps_nanoseconds, const Eigen::Matrix<double, 6, Eigen::Dynamic> &imu_measurements)¶
-
void
processCameraImage
(const vio::ImageMeasurement::ConstPtr &image_measurement)¶
-
void
processLidarMeasurement
(const vi_map::RosLidarMeasurement::ConstPtr &lidar_measurement)¶
-
void
processOdometryMeasurement
(const vio::ViNodeState &odometry)¶
-
void
processAbsolute6DoFMeasurement
(const vi_map::Absolute6DoFMeasurement::Ptr &absolute_6dof_measurement)¶
-
void
processLoopClosureMeasurement
(const vi_map::LoopClosureMeasurement::ConstPtr &loop_closure_measurement)¶
-
void
processWheelOdometryMeasurement
(const vi_map::WheelOdometryMeasurement::ConstPtr &wheel_odometry_measurement)¶
-
void
processPointCloudMapMeasurement
(const vi_map::RosPointCloudMapSensorMeasurement::ConstPtr &pointcloud_map)¶
-
void
expectOdometryData
()¶
-
void
expectLidarData
()¶
-
void
expectVisualData
()¶
-
void
expectImuData
()¶
-
void
expectAbsolute6DoFData
()¶
-
void
expectWheelOdometryData
()¶
-
void
expectLoopClosureData
()¶
-
void
expectPointCloudMapData
()¶
-
void
releaseData
()¶
-
void
releaseCameraImages
(const int64_t oldest_timestamp_ns, const int64_t newest_timestamp_ns)¶
-
void
releaseLidarData
(const int64_t oldest_timestamp_ns, const int64_t newest_timestamp_ns)¶
-
void
releaseAbsolute6DoFData
(const int64_t oldest_timestamp_ns, const int64_t newest_timestamp_ns)¶
-
void
releaseWheelOdometryData
(const int64_t oldest_timestamp_ns, const int64_t newest_timestamp_ns)¶
-
void
releaseLoopClosureData
(const int64_t oldest_timestamp_ns, const int64_t newest_timestamp_ns)¶
-
void
releasePointCloudMapData
(const int64_t oldest_timestamp_ns, const int64_t newest_timestamp_ns)¶
-
void
registerSynchronizedNFrameCallback
(const std::function<void(const vio::SynchronizedNFrame::Ptr&)> &callback)¶
-
void
registerLidarMeasurementCallback
(const std::function<void(const vi_map::RosLidarMeasurement::ConstPtr&)> &callback)¶
-
void
registerAbsolute6DoFMeasurementCallback
(const std::function<void(const vi_map::Absolute6DoFMeasurement::Ptr&)> &callback)¶
-
void
registerLoopClosureMeasurementCallback
(const std::function<void(const vi_map::LoopClosureMeasurement::ConstPtr&)> &callback)¶
-
void
registerWheelOdometryMeasurementCallback
(const std::function<void(const vi_map::WheelOdometryMeasurement::ConstPtr&)> &callback)¶
-
void
registerLocalizationResultMeasurementCallback
(const std::function<void(const common::LocalizationResult::ConstPtr&)> &callback)¶
-
void
registerPointCloudMapSensorMeasurementCallback
(const std::function<void(const vi_map::RosPointCloudMapSensorMeasurement::ConstPtr&)> &callback)¶
-
void
start
()¶
-
void
shutdown
()¶
-
inline vio_common::PoseLookupBuffer &
T_M_B_buffer
()¶
-
inline void
registerEndOfDataCallback
(const std::function<void()> &cb)¶
-
inline void
invokeEndOfDataCallbacks
() const¶
Public Members
-
Synchronizer
-