Class ImuCameraSynchronizer

Class Documentation

class rovioli::ImuCameraSynchronizer

Public Functions

ImuCameraSynchronizer() = delete
explicit ImuCameraSynchronizer(const aslam::NCamera::Ptr &camera_system)
~ImuCameraSynchronizer()
void addImuMeasurements(const Eigen::Matrix<int64_t, 1, Eigen::Dynamic> &timestamps_nanoseconds, const Eigen::Matrix<double, 6, Eigen::Dynamic> &imu_measurements)
void addCameraImage(size_t camera_index, const cv::Mat &image, int64_t timestamp)
void registerSynchronizedNFrameImuCallback(const std::function<void(const vio::SynchronizedNFrameImu::Ptr&)> &cb)
void shutdown()

Public Members

ImuCameraSynchronizer

Public Static Attributes

static constexpr size_t kFramesToSkipAtInit = 1u