Class Synchronizer

Class Documentation

class maplab::Synchronizer

Public Functions

Synchronizer() = delete
explicit Synchronizer(const vi_map::SensorManager &sensor_manager)
~Synchronizer()
void initializeNCameraSynchronization(const aslam::NCamera::Ptr &camera_system)
void processImuMeasurements(const Eigen::Matrix<int64_t, 1, Eigen::Dynamic> &timestamps_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