Replace forward references with header file

include/glim/mapping/callbacks.hpp

@@ -3,6 +3,8 @@
 #include <glim/util/callback_slot.hpp>
 #include <glim/odometry/estimation_frame.hpp>
 #include <glim/mapping/sub_map.hpp>
+#include <gtsam_points/optimizers/isam2_ext.hpp>
+#include <gtsam_points/optimizers/isam2_result_ext.hpp>
 
 #ifdef GLIM_USE_OPENCV
 namespace cv {
@@ -16,8 +18,6 @@ class NonlinearFactorGraph;
 }  // namespace gtsam
 
 namespace gtsam_points {
-class ISAM2Ext;
-class ISAM2ResultExt;
 class LevenbergMarquardtOptimizationStatus;
 }  // namespace gtsam_points
 

include/glim/mapping/sub_mapping.hpp

@@ -1,23 +1,17 @@
 #pragma once
 
-#include <any>
-#include <deque>
 #include <random>
 #include <memory>
 #include <glim/mapping/sub_mapping_base.hpp>
-
-namespace gtsam {
-class Values;
-class NonlinearFactorGraph;
-class PreintegratedImuMeasurements;
-}  // namespace gtsam
+#include <glim/common/imu_integration.hpp>
+#include <glim/common/cloud_deskewing.hpp>
+#include <glim/common/cloud_covariance_estimation.hpp>
+#include <gtsam/navigation/ImuFactor.h>
+#include <gtsam/nonlinear/Values.h>
+#include <gtsam/nonlinear/NonlinearFactorGraph.h>
 
 namespace glim {
 
-class IMUIntegration;
-class CloudDeskewing;
-class CloudCovarianceEstimation;
-
 /**
  * @brief Sub mapping parameters
  */

include/glim/odometry/odometry_estimation_imu.hpp

@@ -7,11 +7,11 @@
 #include <glim/odometry/odometry_estimation_base.hpp>
 #include <gtsam_points/util/gtsam_migration.hpp>
 #include <gtsam_points/util/indexed_sliding_window.hpp>
+#include <gtsam/navigation/ImuFactor.h>
 
 namespace gtsam {
 class Pose3;
 class Values;
-class ImuFactor;
 class NonlinearFactorGraph;
 }  // namespace gtsam
 

include/glim/util/convert_to_string.hpp

@@ -19,7 +19,7 @@ template <typename T2>
 std::string convert_to_string(const std::vector<T2>& values) {
   std::stringstream sst;
   sst << "[";
-  for (int i = 0; i < values.size(); i++) {
+  for (size_t i = 0; i < values.size(); i++) {
     if (i) {
       sst << ",";
     }
@@ -29,6 +29,20 @@ std::string convert_to_string(const std::vector<T2>& values) {
   return sst.str();
 }
 
+template <>
+inline std::string convert_to_string(const std::vector<bool>& values) {
+  std::stringstream sst;
+  sst << "[";
+  for (size_t i = 0; i < values.size(); i++) {
+    if (i) {
+      sst << ",";
+    }
+    sst << convert_to_string(static_cast<bool>(values[i]));
+  }
+  sst << "]";
+  return sst.str();
+}
+
 template <int D>
 std::string convert_to_string(const Eigen::Matrix<double, D, 1>& value) {
   std::stringstream sst;

include/glim/util/data_validator.hpp

@@ -3,12 +3,11 @@
 #include <memory>
 #include <chrono>
 #include <Eigen/Core>
+#include <glim/util/raw_points.hpp>
+#include <glim/util/time_keeper.hpp>
 
 namespace glim {
 
-class RawPoints;
-class TimeKeeper;
-
 class DataValidator {
 public:
   DataValidator(bool debug = false);

include/glim/viewer/interactive_viewer.hpp

@@ -11,6 +11,8 @@
 #include <glim/mapping/sub_map.hpp>
 #include <glim/util/extension_module.hpp>
 #include <glim/util/concurrent_vector.hpp>
+#include <gtsam_points/optimizers/isam2_ext.hpp>
+#include <gtsam_points/optimizers/isam2_result_ext.hpp>
 #include <gtsam_points/util/gtsam_migration.hpp>
 
 namespace spdlog {
@@ -23,11 +25,6 @@ class NonlinearFactor;
 class NonlinearFactorGraph;
 }  // namespace gtsam
 
-namespace gtsam_points {
-class ISAM2Ext;
-class ISAM2ResultExt;
-}  // namespace gtsam_points
-
 namespace glim {
 
 class TrajectoryManager;

src/glim/odometry/odometry_estimation_ct.cpp

@@ -121,7 +121,7 @@ EstimationFrame::ConstPtr OdometryEstimationCT::insert_frame(const PreprocessedF
     gtsam::Vector6 last_twist = gtsam::Vector6::Zero();
     if (current >= 2) {
       if (!frames[last] || !frames[last - 1]) {
-        logger->warn("neither frames[last]={} nor frames[last - 1]={} is released!!", fmt::ptr(frames[last]), fmt::ptr(frames[last - 1]));
+        logger->warn("neither frames[last]={} nor frames[last - 1]={} is released!!", fmt::ptr(frames[last].get()), fmt::ptr(frames[last - 1].get()));
         logger->warn("there might be a large time gap between point cloud frames");
       } else {
         const double delta_time = (frames[last]->stamp + frames[last]->frame->times[frames[last]->frame->size() - 1]) - frames[last - 1]->stamp;