-------------------------------------------------------------------------- */

------------------------------------------------------------------------ */

------------------------------------------------------------------------ */

-------------------------------------------------------------------------- */ Refines gravity alignment by imposing norm of gravity vector iteratively

Register external callback to output the VIO backend results.

Override registering of output callbacks since this is only used for multiple output pipelines.

Override registering of output callbacks since this is only used for multiple output pipelines.

Register external callback to output the VIO frontend results. TODO(marcus): once we have a base class for StereoVisionFrontend, we need that type to

Register external callback to output the LoopClosureDetector's results.

------------------------------------------------------------------------ */

Register external callback to output mesher results.

-------------------------------------------------------------------------- */ Remove line widgets from plane to lmks, for lines that are not pointing

-------------------------------------------------------------------------- */

-------------------------------------------------------------------------- */

-------------------------------------------------------------------------- */

-------------------------------------------------------------------------- */ Remove plane widget.

-------------------------------------------------------------------------- */ Remove line widgets from plane to lmks.

-------------------------------------------------------------------------- */ Remove widget. True if successful, false if not.

-------------------------------------------------------------------------- */ Render window with drawn objects/widgets. * @param wait_time Amount of

-------------------------------------------------------------------------- */ Reset state of debug info.

------------------------------------------------------------------------ */ Reset frontend after initial bundle adjustment for online alignment

------------------------------------------------------------------------ */ Reset ImuFrontEnd gravity. Trivial gravity is needed for initial alignment

-------------------------------------------------------------------------- */ @brief Crop to size and round pixel coordinates to integers * @param *

------------------------------------------------------------------------ */ Returns a OpenCV file storage in a safely manner, warning about potential

-------------------------------------------------------------------------- */

-------------------------------------------------------------------------- */

-------------------------------------------------------------------------- */

-------------------------------------------------------------------------- */ Segment new planes horizontal. plane_id, starting id for new planes, it

-------------------------------------------------------------------------- */ Segment new planes in the mesh. Currently segments horizontal planes usi

-------------------------------------------------------------------------- */ Segment planes in the mesh: updates seed_planes and extracts new_planes.

-------------------------------------------------------------------------- */ Segment wall planes. plane_id, starting id for new planes, it gets incre

-------------------------------------------------------------------------- */ Output a noise model with a selected norm type: norm_type = 0: l-2. norm

------------------------------------------------------------------------ */

Initialize random seed for repeatability (only on the same machine). TODO Still does not make RANSAC REPEATABLE across different machines.

-------------------------------------------------------------------------- */ Set parameters for all the factors.

-------------------------------------------------------------------------- */ Set parameters for ISAM 2 incremental smoother.

------------------------------------------------------------------------ */ Keyboard callback to set mesh ambient.

------------------------------------------------------------------------ */ Keyboard callback to set mesh lighting.

------------------------------------------------------------------------ */ Keyboard callback to set mesh representation.

------------------------------------------------------------------------ */ Keyboard callback to set mesh shading.

-------------------------------------------------------------------------- */

Setting pose

-------------------------------------------------------------------------- */ Set parameters for smart factors.

------------------------------------------------------------------------ */

-------------------------------------------------------------------------- */ TODO visualization (aka imshow/waitKey) must be done in the main thread.

-------------------------------------------------------------------------- */

-------------------------------------------------------------------------- */ TODO visualization (aka imshow/waitKey) must be done in the main thread.

Called when general shutdown of PipelineModule is triggered.

Called when general shutdown of PipelineModule is triggered.

Called when general shutdown of PipelineModule is triggered.

Called when general shutdown of PipelineModule is triggered.

TODO: Adapt this function to be able to cope with new initialization -------------------------------------------------------------------------- */

-------------------------------------------------------------------------- */

* @brief spin Spin the whole pipeline by spinning the data provider * If in sequential mode, it will return for each spin. * If in parallel mode

* @brief Main spin function. Every pipeline module calls this spin, where * the input is taken from an input queue and processed into an output pac

-------------------------------------------------------------------------- */

------------------------------------------------------------------------ */

-------------------------------------------------------------------------- */

-------------------------------------------------------------------------- */

-------------------------------------------------------------------------- */

-------------------------------------------------------------------------- */

* @brief Utility function to synchronize threadsafe queues. * For now we are doing a very simple naive sync approach: * Just loop over the messa

------------------------------------------------------------------------ */

-------------------------------------------------------------------------- */

------------------------------------------------------------------------ */ Keyboard callback to toggle freezing screen.

-------------------------------------------------------------------------- */

------------------------------------------------------------------------ */ Converts a gtsam::Unit3 to a cv::Point3d.

Imu related

-------------------------------------------------------------------------- */ Corrects pre-integrated delta states with the gyro bias estimate. It use

-------------------------------------------------------------------------- */

------------------------------------------------------------------------ */ Update Imu Bias. This is thread-safe as imu_frontend_->updateBias is threa

Callbacks