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