LoopClosing

Detects and corrects loop closures and map merges. More...

Collaboration diagram for LoopClosing:

Public Types
typedef std::pair< Set< KeyFrame * >, int >	ConsistentGroup
	A group of keyframes with a consistency count.
typedef std::map< KeyFrame *, Sim3, std::less< KeyFrame * >, Eigen::aligned_allocator< std::pair< KeyFrame *const, Sim3 > > >	KeyFrameAndPose
	Map from keyframe to Sim3 pose.

Public Member Functions
	LoopClosing (Atlas *pAtlas, KeyFrameDatabase *pDB, ORBVocabulary *pVoc, const bool bFixScale, const bool bActiveLC, LogPtr log)
	Constructs the loop closer.

Detailed Description

Detects and corrects loop closures and map merges.

Runs in its own thread, checking each new keyframe for loop closure or map merge candidates. When detected, it performs pose-graph optimization and optional global bundle adjustment.

Definition at line 28 of file LoopClosing.h.

Constructor & Destructor Documentation

LoopClosing()

LoopClosing::LoopClosing	(	Atlas *	pAtlas,
		KeyFrameDatabase *	pDB,
		ORBVocabulary *	pVoc,
		const bool	bFixScale,
		const bool	bActiveLC,
		LogPtr	log )

Constructs the loop closer.

Parameters

[in]	pAtlas	Pointer to the Atlas.
[in]	pDB	Keyframe database for place recognition.
[in]	pVoc	ORB vocabulary.
[in]	bFixScale	True for stereo/RGB-D (fixed scale).
[in]	bActiveLC	True to enable active loop closing.
[in]	log	Logger for diagnostic output.

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

• OrbSLAM/Headers/LoopClosing.h