Class OutputIOWrapper

• Defined in File OutputIOWrapper.h

Class Documentation

class OutputIOWrapper

Public Functions

virtual ~OutputIOWrapper()

virtual void publishPose(const Sophus::Sim3f &pose) = 0

virtual void publishKeyframeGraph(const std::shared_ptr<KeyFrameGraph> &graph) = 0

virtual void publishPointCloud(const Frame::SharedPtr &kf) = 0

virtual void publishKeyframe(const Frame::SharedPtr &kf) = 0

virtual void updateDepthImage(unsigned char *data) = 0

virtual void publishTrackedFrame(const Frame::SharedPtr &kf) = 0

virtual void publishTrajectory(std::vector<Eigen::Matrix<float, 3, 1>> trajectory, std::string identifier) = 0

virtual void publishTrajectoryIncrement(Eigen::Matrix<float, 3, 1> pt, std::string identifier) = 0

virtual void publishDebugInfo(Eigen::Matrix<float, 20, 1> data) = 0

virtual void updateFrameNumber(int) = 0

virtual void updateLiveImage(const cv::Mat &img) = 0