Class LoopDetector

Class Documentation

class LoopDetector

This class finds loops by scam matching and adds them to the pose graph.

Public Types

typedef pcl::PointXYZI PointT

Public Functions

inline LoopDetector(const rclcpp::Node::SharedPtr node)

Constructor of the class LoopDetector.

Parameters:

node –

inline std::vector<Loop::Ptr> detect(const std::map<int, KeyFrame::Ptr> &keyframes, const std::deque<KeyFrame::Ptr> &new_keyframes, s_graphs::GraphSLAM &covisibility_graph)

Detect loops and add them to the pose graph.

Parameters:

  • keyframes – Keyframes

  • new_keyframes – Newly registered keyframes

  • covisibility_graph – Pose graph

Returns:

Loop vector

inline std::vector<Loop::Ptr> detect(const std::map<int, KeyFrame::Ptr> &keyframes, const std::vector<KeyFrame::Ptr> &new_keyframes, s_graphs::GraphSLAM &covisibility_graph)
inline std::vector<Loop::Ptr> detectWithAllKeyframes(const std::map<int, KeyFrame::Ptr> &keyframes, const std::vector<KeyFrame::Ptr> &new_keyframes, s_graphs::GraphSLAM &covisibility_graph)
inline bool matching(const KeyFrame::Ptr &keyframe, const KeyFrame::Ptr &prev_keyframe, Eigen::Matrix4f &relative_pose)
inline double get_distance_thresh() const
Returns:

Distance treshold