Class LoopDetector

• Defined in File loop-detector-interface.h

Inheritance Relationships

Derived Type

• public matching_based_loopclosure::MatchingBasedLoopDetector (Class MatchingBasedLoopDetector)

Class Documentation

class loop_detector::LoopDetector

Subclassed by matching_based_loopclosure::MatchingBasedLoopDetector

Public Functions

virtual ~LoopDetector() = default

virtual void Find(const loop_closure::ProjectedImagePtrList &projected_image_ptr_list, const bool parallelize_if_possible, loop_closure::FrameToMatches *frame_matches) const = 0

virtual void Insert(const std::shared_ptr<loop_closure::ProjectedImage> &projected_image_ptr) = 0

virtual void ProjectDescriptors(const std::vector<aslam::common::FeatureDescriptorConstRef> &descriptors, Eigen::MatrixXf *projected_descriptors) const = 0

virtual void ProjectDescriptors(const loop_closure::DescriptorContainer &descriptors, Eigen::MatrixXf *projected_descriptors) const = 0

virtual void Clear() = 0

virtual size_t NumEntries() const = 0

virtual int NumDescriptors() const = 0

virtual void serialize(matching_based_loopclosure::proto::MatchingBasedLoopDetector *matching_based_loop_detector) const = 0

virtual void deserialize(const matching_based_loopclosure::proto::MatchingBasedLoopDetector &matching_based_loop_detector) = 0