Class LoopDetectorNode

• Defined in File loop-detector-node.h

Inheritance Relationships

Base Type

• public common::FileSerializable< proto::LoopDetectorNode > (Template Class FileSerializable)

Class Documentation

class loop_detector_node::LoopDetectorNode : public common::FileSerializable<proto::LoopDetectorNode>

Public Types

typedef vi_map::MissionBaseFrameMap MissionBaseFrameMap

typedef vi_map::MissionMap MissionMap

typedef vi_map::MissionId MissionId

typedef std::unordered_map<vi_map::LandmarkId, vi_map::LandmarkId> LandmarkToLandmarkMap

Public Functions

LoopDetectorNode()

void detectLoopClosuresAndMergeLandmarks(const MissionId &mission, vi_map::VIMap *map)

void addVertexToDatabase(const pose_graph::VertexId &vertex_id, const vi_map::VIMap &map)

void addMissionToDatabase(const vi_map::MissionId &mission_id, const vi_map::VIMap &map)

void addVerticesToDatabase(const pose_graph::VertexIdList &vertex_ids, const vi_map::VIMap &map)

bool hasMissionInDatabase(const vi_map::MissionId &mission_id) const

void addLandmarkSetToDatabase(const vi_map::LandmarkIdSet &landmark_id_set, const vi_map::VIMap &map)

void addLocalizationSummaryMapToDatabase(const summary_map::LocalizationSummaryMap &localization_summary_map)

bool findVertexInDatabase(const vi_map::Vertex &query_vertex, const bool merge_landmarks, const bool add_lc_edges, vi_map::VIMap *map, pose::Transformation *T_G_I, unsigned int *num_of_lc_matches, vi_map::LoopClosureConstraint *inlier_constraint) const

bool findNFrameInDatabase(const aslam::VisualNFrame &n_frame, const bool skip_untracked_keypoints, vi_map::VIMap *map, pose::Transformation *T_G_I, unsigned int *num_of_lc_matches, vi_map::VertexKeyPointToStructureMatchList *inlier_structure_matches, pose_graph::VertexId *vertex_id_closest_to_structure_matches) const

bool findNFrameInSummaryMapDatabase(const aslam::VisualNFrame &n_frame, const bool skip_untracked_keypoints, const summary_map::LocalizationSummaryMap &localization_summary_map, pose::Transformation *T_G_I, unsigned int *num_of_lc_matches, vi_map::VertexKeyPointToStructureMatchList *inlier_structure_matches) const

void detectLoopClosuresMissionToDatabase(const MissionId &mission_id, const bool merge_landmarks, const bool add_lc_edges, int *num_vertex_candidate_links, double *summary_landmark_match_inlier_ratio, vi_map::VIMap *map, pose::Transformation *T_G_M_estimate, vi_map::LoopClosureConstraintVector *inlier_constraints) const

void detectLoopClosuresVerticesToDatabase(const pose_graph::VertexIdList &vertices, const bool merge_landmarks, const bool add_lc_edges, int *num_vertex_candidate_links, double *summary_landmark_match_inlier_ratio, vi_map::VIMap *map, pose::Transformation *T_G_M_estimate, vi_map::LoopClosureConstraintVector *inlier_constraints) const

void instantiateVisualizer()

void clear()

std::string printStatus() const

virtual void serialize(proto::LoopDetectorNode *proto_loop_detector_node) const override

virtual void deserialize(const proto::LoopDetectorNode &proto_loop_detector_node) override

Public Members

LoopDetectorNode

Public Static Functions

static const std::string &getDefaultSerializationFilename()