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 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