#include <LoopClosing.h>

Public Types
typedef pair< set< KeyFrame * >, int >	ConsistentGroup

typedef map< KeyFrame , g2o::Sim3, std::less< KeyFrame >, Eigen::aligned_allocator< std::pair< KeyFrame *const, g2o::Sim3 > > >	KeyFrameAndPose

Public Member Functions
void	InsertKeyFrame (KeyFrame *pKF)

bool	isFinished ()

bool	isFinishedGBA ()

bool	isRunningGBA ()

	LoopClosing (Map pMap, KeyFrameDatabase pDB, ORBVocabulary *pVoc, const bool bFixScale)

void	RequestFinish ()

void	RequestReset ()

void	Run ()

void	RunGlobalBundleAdjustment (unsigned long nLoopKF)

void	SetLocalMapper (LocalMapping *pLocalMapper)

void	SetTracker (Tracking *pTracker)

Protected Member Functions
bool	CheckFinish ()

bool	CheckNewKeyFrames ()

bool	ComputeSim3 ()

void	CorrectLoop ()

bool	DetectLoop ()

void	ResetIfRequested ()

void	SearchAndFuse (const KeyFrameAndPose &CorrectedPosesMap)

void	SetFinish ()

Protected Attributes
bool	mbFinished

bool	mbFinishedGBA

bool	mbFinishRequested

bool	mbFixScale

bool	mbResetRequested

bool	mbRunningGBA

bool	mbStopGBA

g2o::Sim3	mg2oScw

long unsigned int	mLastLoopKFid

std::list< KeyFrame * >	mlpLoopKeyFrameQueue

std::mutex	mMutexFinish

std::mutex	mMutexGBA

std::mutex	mMutexLoopQueue

std::mutex	mMutexReset

float	mnCovisibilityConsistencyTh

bool	mnFullBAIdx

KeyFrame *	mpCurrentKF

KeyFrameDatabase *	mpKeyFrameDB

LocalMapping *	mpLocalMapper

Map *	mpMap

KeyFrame *	mpMatchedKF

ORBVocabulary *	mpORBVocabulary

std::thread *	mpThreadGBA

Tracking *	mpTracker

cv::Mat	mScw

std::vector< ConsistentGroup >	mvConsistentGroups

std::vector< KeyFrame * >	mvpCurrentConnectedKFs

std::vector< MapPoint * >	mvpCurrentMatchedPoints

std::vector< KeyFrame * >	mvpEnoughConsistentCandidates

std::vector< MapPoint * >	mvpLoopMapPoints

Detailed Description

Definition at line 44 of file LoopClosing.h.

Member Typedef Documentation

typedef pair<set<KeyFrame*>,int> ORB_SLAM2::LoopClosing::ConsistentGroup

Definition at line 48 of file LoopClosing.h.

typedef map<KeyFrame*,g2o::Sim3,std::less<KeyFrame*>, Eigen::aligned_allocator<std::pair<KeyFrame* const, g2o::Sim3> > > ORB_SLAM2::LoopClosing::KeyFrameAndPose

Definition at line 50 of file LoopClosing.h.

Constructor & Destructor Documentation

ORB_SLAM2::LoopClosing::LoopClosing	(	Map *	pMap,
		KeyFrameDatabase *	pDB,
		ORBVocabulary *	pVoc,
		const bool	bFixScale
	)

Definition at line 38 of file LoopClosing.cc.

Member Function Documentation

bool ORB_SLAM2::LoopClosing::CheckFinish ( )

protected

Definition at line 757 of file LoopClosing.cc.

bool ORB_SLAM2::LoopClosing::CheckNewKeyFrames ( )

protected

Definition at line 97 of file LoopClosing.cc.

bool ORB_SLAM2::LoopClosing::ComputeSim3 ( )

protected

Definition at line 231 of file LoopClosing.cc.

void ORB_SLAM2::LoopClosing::CorrectLoop ( )

protected

Definition at line 402 of file LoopClosing.cc.

bool ORB_SLAM2::LoopClosing::DetectLoop ( )

protected

Definition at line 103 of file LoopClosing.cc.

void ORB_SLAM2::LoopClosing::InsertKeyFrame ( KeyFrame * pKF )

Definition at line 90 of file LoopClosing.cc.

bool ORB_SLAM2::LoopClosing::isFinished ( )

Definition at line 769 of file LoopClosing.cc.

bool ORB_SLAM2::LoopClosing::isFinishedGBA ( )

inline

Definition at line 74 of file LoopClosing.h.

bool ORB_SLAM2::LoopClosing::isRunningGBA ( )

inline

Definition at line 70 of file LoopClosing.h.

void ORB_SLAM2::LoopClosing::RequestFinish ( )

Definition at line 751 of file LoopClosing.cc.

void ORB_SLAM2::LoopClosing::RequestReset ( )

Definition at line 616 of file LoopClosing.cc.

void ORB_SLAM2::LoopClosing::ResetIfRequested ( )

protected

Definition at line 634 of file LoopClosing.cc.

void ORB_SLAM2::LoopClosing::Run ( )

Definition at line 57 of file LoopClosing.cc.

void ORB_SLAM2::LoopClosing::RunGlobalBundleAdjustment ( unsigned long nLoopKF )

Definition at line 645 of file LoopClosing.cc.

void ORB_SLAM2::LoopClosing::SearchAndFuse ( const KeyFrameAndPose & CorrectedPosesMap )

protected

Definition at line 587 of file LoopClosing.cc.

void ORB_SLAM2::LoopClosing::SetFinish ( )

protected

Definition at line 763 of file LoopClosing.cc.

void ORB_SLAM2::LoopClosing::SetLocalMapper ( LocalMapping * pLocalMapper )

Definition at line 51 of file LoopClosing.cc.

void ORB_SLAM2::LoopClosing::SetTracker ( Tracking * pTracker )

Definition at line 46 of file LoopClosing.cc.

Member Data Documentation

bool ORB_SLAM2::LoopClosing::mbFinished

protected

Definition at line 104 of file LoopClosing.h.

bool ORB_SLAM2::LoopClosing::mbFinishedGBA

protected

Definition at line 137 of file LoopClosing.h.

bool ORB_SLAM2::LoopClosing::mbFinishRequested

protected

Definition at line 103 of file LoopClosing.h.

bool ORB_SLAM2::LoopClosing::mbFixScale

protected

Definition at line 143 of file LoopClosing.h.

bool ORB_SLAM2::LoopClosing::mbResetRequested

protected

Definition at line 98 of file LoopClosing.h.

bool ORB_SLAM2::LoopClosing::mbRunningGBA

protected

Definition at line 136 of file LoopClosing.h.

bool ORB_SLAM2::LoopClosing::mbStopGBA

protected

Definition at line 138 of file LoopClosing.h.

g2o::Sim3 ORB_SLAM2::LoopClosing::mg2oScw

protected

Definition at line 131 of file LoopClosing.h.

long unsigned int ORB_SLAM2::LoopClosing::mLastLoopKFid

protected

Definition at line 133 of file LoopClosing.h.

std::list<KeyFrame*> ORB_SLAM2::LoopClosing::mlpLoopKeyFrameQueue

protected

Definition at line 115 of file LoopClosing.h.

std::mutex ORB_SLAM2::LoopClosing::mMutexFinish

protected

Definition at line 105 of file LoopClosing.h.

std::mutex ORB_SLAM2::LoopClosing::mMutexGBA

protected

Definition at line 139 of file LoopClosing.h.

std::mutex ORB_SLAM2::LoopClosing::mMutexLoopQueue

protected

Definition at line 117 of file LoopClosing.h.

std::mutex ORB_SLAM2::LoopClosing::mMutexReset

protected

Definition at line 99 of file LoopClosing.h.

float ORB_SLAM2::LoopClosing::mnCovisibilityConsistencyTh

protected

Definition at line 120 of file LoopClosing.h.

bool ORB_SLAM2::LoopClosing::mnFullBAIdx

protected

Definition at line 146 of file LoopClosing.h.

KeyFrame* ORB_SLAM2::LoopClosing::mpCurrentKF

protected

Definition at line 123 of file LoopClosing.h.

KeyFrameDatabase* ORB_SLAM2::LoopClosing::mpKeyFrameDB

protected

Definition at line 110 of file LoopClosing.h.

LocalMapping* ORB_SLAM2::LoopClosing::mpLocalMapper

protected

Definition at line 113 of file LoopClosing.h.

Map* ORB_SLAM2::LoopClosing::mpMap

protected

Definition at line 107 of file LoopClosing.h.

KeyFrame* ORB_SLAM2::LoopClosing::mpMatchedKF

protected

Definition at line 124 of file LoopClosing.h.

ORBVocabulary* ORB_SLAM2::LoopClosing::mpORBVocabulary

protected

Definition at line 111 of file LoopClosing.h.

std::thread* ORB_SLAM2::LoopClosing::mpThreadGBA

protected

Definition at line 140 of file LoopClosing.h.

Tracking* ORB_SLAM2::LoopClosing::mpTracker

protected

Definition at line 108 of file LoopClosing.h.

cv::Mat ORB_SLAM2::LoopClosing::mScw

protected

Definition at line 130 of file LoopClosing.h.

std::vector<ConsistentGroup> ORB_SLAM2::LoopClosing::mvConsistentGroups

protected

Definition at line 125 of file LoopClosing.h.

std::vector<KeyFrame*> ORB_SLAM2::LoopClosing::mvpCurrentConnectedKFs

protected

Definition at line 127 of file LoopClosing.h.

std::vector<MapPoint*> ORB_SLAM2::LoopClosing::mvpCurrentMatchedPoints

protected

Definition at line 128 of file LoopClosing.h.

std::vector<KeyFrame*> ORB_SLAM2::LoopClosing::mvpEnoughConsistentCandidates

protected

Definition at line 126 of file LoopClosing.h.

std::vector<MapPoint*> ORB_SLAM2::LoopClosing::mvpLoopMapPoints

protected

Definition at line 129 of file LoopClosing.h.

The documentation for this class was generated from the following files:

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation