loop_closing.h
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00001 
00006 #ifndef LOOP_CLOSING_H
00007 #define LOOP_CLOSING_H
00008 
00009 #include <ros/ros.h>
00010 
00011 #include <boost/thread.hpp>
00012 #include <boost/filesystem.hpp>
00013 #include <boost/lexical_cast.hpp>
00014 
00015 #include <libhaloc/lc.h>
00016 
00017 #include "constants.h"
00018 #include "cluster.h"
00019 #include "graph.h"
00020 
00021 using namespace std;
00022 using namespace boost;
00023 namespace fs  = filesystem;
00024 
00025 namespace slam
00026 {
00027 
00028 class Graph;
00029 
00030 class LoopClosing
00031 {
00032 
00033 public:
00034 
00037   LoopClosing();
00038 
00042   inline void setGraph(Graph *graph){graph_ = graph;}
00043 
00046   void run();
00047 
00051   void addClusterToQueue(Cluster cluster);
00052 
00055   void finalize();
00056 
00057 protected:
00058 
00062   bool checkNewClusterInQueue();
00063 
00066   void processNewCluster();
00067 
00070   void searchByProximity();
00071 
00074   void searchByHash();
00075 
00080   bool closeLoopWithCluster(Cluster candidate);
00081 
00086   void getCandidates(int cluster_id, vector< pair<int,float> >& candidates);
00087 
00092   Cluster readCluster(int id);
00093 
00103   void drawLoopClosure(vector<int> cand_kfs,
00104                        vector<int> cand_matchings,
00105                        vector<int> inliers,
00106                        vector<int> definitive_inliers_per_pair,
00107                        vector< vector<int> > definitive_cluster_pairs,
00108                        vector<cv::Point2f> matched_query_kp_l,
00109                        vector<cv::Point2f> matched_cand_kp_l);
00110 
00111 private:
00112 
00113   Cluster c_cluster_; 
00114 
00115   list<Cluster> cluster_queue_; 
00116 
00117   mutex mutex_cluster_queue_; 
00118 
00119   haloc::Hash hash_; 
00120 
00121   vector< pair<int, vector<float> > > hash_table_;  
00122 
00123   vector< pair<int, int > > cluster_lc_found_; 
00124 
00125   int num_loop_closures_; 
00126 
00127   string execution_dir_; 
00128 
00129   string loop_closures_dir_; 
00130 
00131   Graph* graph_; 
00132 
00133   ros::Publisher pub_num_keyframes_; 
00134 
00135   ros::Publisher pub_num_lc_; 
00136 
00137   ros::Publisher pub_queue_; 
00138 
00139   ros::Publisher pub_lc_matchings_; 
00140 
00141   image_geometry::PinholeCameraModel camera_model_; 
00142 
00143 };
00144 
00145 } // namespace
00146 
00147 #endif // LOOP_CLOSING_H


stereo_slam
Author(s): Pep Lluis Negre
autogenerated on Thu Jun 6 2019 21:40:57