add custom_data to EstimationFrame

koide3 · Aug 14, 2024 · 24893c1 · 24893c1
1 parent f3d192f
commit 24893c1
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diff --git a/include/glim/odometry/estimation_frame.hpp b/include/glim/odometry/estimation_frame.hpp
@@ -1,6 +1,7 @@
 #pragma once
 
 #include <memory>
+#include <unordered_map>
 #include <Eigen/Core>
 #include <Eigen/Geometry>
 
@@ -64,5 +65,7 @@ struct EstimationFrame {
   FrameID frame_id;                                            ///< Coordinate frame of $frame
   gtsam_points::PointCloud::ConstPtr frame;                    ///< Deskewed points for state estimation
   std::vector<gtsam_points::GaussianVoxelMap::Ptr> voxelmaps;  ///< Multi-resolution voxelmaps
+
+  std::unordered_map<std::string, std::shared_ptr<void>> custom_data;  ///< User-defined custom data
 };
 }  // namespace glim
diff --git a/src/glim/odometry/estimation_frame.cpp b/src/glim/odometry/estimation_frame.cpp
@@ -16,6 +16,7 @@ EstimationFrame::Ptr EstimationFrame::clone_wo_points() const {
   cloned->raw_frame.reset();
   cloned->frame.reset();
   cloned->voxelmaps.clear();
+  cloned->custom_data.clear();
   return cloned;
 }