ORB_SLAM2::LoopClosing Class Reference

#include <LoopClosing.h>

Public Types
typedef pair< set< KeyFrame * >, int >	ConsistentGroup
typedef map< KeyFrame *, g2o::Sim3, std::less< KeyFrame * >, Eigen::aligned_allocator< std::pair< const KeyFrame *, 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)

Public Attributes
bool	loop_detected

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<const KeyFrame*, 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
	)

Member Function Documentation

bool ORB_SLAM2::LoopClosing::CheckFinish ( )

protected

bool ORB_SLAM2::LoopClosing::CheckNewKeyFrames ( )

protected

bool ORB_SLAM2::LoopClosing::ComputeSim3 ( )

protected

void ORB_SLAM2::LoopClosing::CorrectLoop ( )

protected

bool ORB_SLAM2::LoopClosing::DetectLoop ( )

protected

void ORB_SLAM2::LoopClosing::InsertKeyFrame

(

KeyFrame *

pKF

)

bool ORB_SLAM2::LoopClosing::isFinished

(

)

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

(

)

void ORB_SLAM2::LoopClosing::RequestReset

(

)

void ORB_SLAM2::LoopClosing::ResetIfRequested ( )

protected

void ORB_SLAM2::LoopClosing::Run

(

)

void ORB_SLAM2::LoopClosing::RunGlobalBundleAdjustment

(

unsigned long

nLoopKF

)

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

protected

void ORB_SLAM2::LoopClosing::SetFinish ( )

protected

void ORB_SLAM2::LoopClosing::SetLocalMapper

(

LocalMapping *

pLocalMapper

)

void ORB_SLAM2::LoopClosing::SetTracker

(

Tracking *

pTracker

)

Member Data Documentation

bool ORB_SLAM2::LoopClosing::loop_detected

Definition at line 83 of file LoopClosing.h.

bool ORB_SLAM2::LoopClosing::mbFinished

protected

Definition at line 106 of file LoopClosing.h.

bool ORB_SLAM2::LoopClosing::mbFinishedGBA

protected

Definition at line 139 of file LoopClosing.h.

bool ORB_SLAM2::LoopClosing::mbFinishRequested

protected

Definition at line 105 of file LoopClosing.h.

bool ORB_SLAM2::LoopClosing::mbFixScale

protected

Definition at line 145 of file LoopClosing.h.

bool ORB_SLAM2::LoopClosing::mbResetRequested

protected

Definition at line 100 of file LoopClosing.h.

bool ORB_SLAM2::LoopClosing::mbRunningGBA

protected

Definition at line 138 of file LoopClosing.h.

bool ORB_SLAM2::LoopClosing::mbStopGBA

protected

Definition at line 140 of file LoopClosing.h.

g2o::Sim3 ORB_SLAM2::LoopClosing::mg2oScw

protected

Definition at line 133 of file LoopClosing.h.

long unsigned int ORB_SLAM2::LoopClosing::mLastLoopKFid

protected

Definition at line 135 of file LoopClosing.h.

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

protected

Definition at line 117 of file LoopClosing.h.

std::mutex ORB_SLAM2::LoopClosing::mMutexFinish

protected

Definition at line 107 of file LoopClosing.h.

std::mutex ORB_SLAM2::LoopClosing::mMutexGBA

protected

Definition at line 141 of file LoopClosing.h.

std::mutex ORB_SLAM2::LoopClosing::mMutexLoopQueue

protected

Definition at line 119 of file LoopClosing.h.

std::mutex ORB_SLAM2::LoopClosing::mMutexReset

protected

Definition at line 101 of file LoopClosing.h.

float ORB_SLAM2::LoopClosing::mnCovisibilityConsistencyTh

protected

Definition at line 122 of file LoopClosing.h.

bool ORB_SLAM2::LoopClosing::mnFullBAIdx

protected

Definition at line 148 of file LoopClosing.h.

KeyFrame* ORB_SLAM2::LoopClosing::mpCurrentKF

protected

Definition at line 125 of file LoopClosing.h.

KeyFrameDatabase* ORB_SLAM2::LoopClosing::mpKeyFrameDB

protected

Definition at line 112 of file LoopClosing.h.

LocalMapping* ORB_SLAM2::LoopClosing::mpLocalMapper

protected

Definition at line 115 of file LoopClosing.h.

Map* ORB_SLAM2::LoopClosing::mpMap

protected

Definition at line 109 of file LoopClosing.h.

KeyFrame* ORB_SLAM2::LoopClosing::mpMatchedKF

protected

Definition at line 126 of file LoopClosing.h.

ORBVocabulary* ORB_SLAM2::LoopClosing::mpORBVocabulary

protected

Definition at line 113 of file LoopClosing.h.

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

protected

Definition at line 142 of file LoopClosing.h.

Tracking* ORB_SLAM2::LoopClosing::mpTracker

protected

Definition at line 110 of file LoopClosing.h.

cv::Mat ORB_SLAM2::LoopClosing::mScw

protected

Definition at line 132 of file LoopClosing.h.

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

protected

Definition at line 127 of file LoopClosing.h.

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

protected

Definition at line 129 of file LoopClosing.h.

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

protected

Definition at line 130 of file LoopClosing.h.

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

protected

Definition at line 128 of file LoopClosing.h.

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

protected

Definition at line 131 of file LoopClosing.h.

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

• LoopClosing.h