Class MatchingBasedLoopDetector

Inheritance Relationships

Base Type

Class Documentation

class matching_based_loopclosure::MatchingBasedLoopDetector : public loop_detector::LoopDetector

Public Functions

explicit MatchingBasedLoopDetector(const MatchingBasedEngineSettings &settings)
virtual ~MatchingBasedLoopDetector() = default
virtual void Find(const loop_closure::ProjectedImagePtrList &projected_image_ptr_list, const bool parallelize_if_possible, loop_closure::FrameToMatches *frame_matches) const override
void Insert(const loop_closure::ProjectedImage::Ptr &projected_image_ptr) override
virtual void ProjectDescriptors(const loop_closure::DescriptorContainer &descriptors, Eigen::MatrixXf *projected_descriptors) const override
virtual void ProjectDescriptors(const std::vector<aslam::common::FeatureDescriptorConstRef> &descriptors, Eigen::MatrixXf *projected_descriptors) const override
virtual void Clear() override
void serialize(proto::MatchingBasedLoopDetector *matching_based_loop_detector) const override
void deserialize(const proto::MatchingBasedLoopDetector &matching_based_loop_detector) override
template<>
loop_closure::FrameToMatches::const_iterator getIteratorForMatch(const loop_closure::FrameToMatches &frame_to_matches, const loop_closure::Match &match) const
template<>
loop_closure::VertexToMatches::const_iterator getIteratorForMatch(const loop_closure::VertexToMatches &vertex_to_matches, const loop_closure::Match &match) const
template<>
bool skipMatch(const IdToScoreMap<loop_closure::KeyframeId> &frame_to_score_map, const loop_closure::Match &match) const
template<>
bool skipMatch(const IdToScoreMap<loop_closure::VertexId>&, const loop_closure::Match&) const
template<>
void computeRelevantIdsForFiltering(const loop_closure::FrameToMatches &frame_to_matches, IdToScoreMap<loop_closure::KeyframeId> *frame_to_score_map) const
template<>
void computeRelevantIdsForFiltering(const loop_closure::VertexToMatches&, IdToScoreMap<loop_closure::VertexId>*) const