General loop closure processor. More...

#include <core/processor/processor_loop_closure.h>

Inheritance diagram for wolf::ProcessorLoopClosure:

Public Member Functions
	ProcessorLoopClosure (const std::string &_type, const TypeComposite &_state_types, const YAML::Node &_params)

	~ProcessorLoopClosure () override=default

void	configure (SensorBasePtr _sensor) override

int	getMaxLoops () const

void	setMaxLoops (int _max_loops)

Public Member Functions inherited from wolf::ProcessorBase
void	startCaptureProfiling ()

void	stopCaptureProfiling ()

void	startKFProfiling ()

void	stopKFProfiling ()

virtual void	printProfiling (std::ostream &stream=std::cout) const

	ProcessorBase (const std::string &_type, const TypeComposite &_state_types, const YAML::Node &_params)
	constructor More...

	~ProcessorBase () override

virtual void	configure (SensorBasePtr _sensor)=0

virtual void	remove ()

bool	hasChildren () const override

const TypeComposite &	getStateTypes () const

StateKeys	getStateKeys () const

unsigned int	id () const

void	keyFrameCallback (FrameBasePtr _keyframe)
	notify a new keyframe made by another processor More...

void	captureCallback (CaptureBasePtr _capture)
	notify a new capture More...

SensorBaseConstPtr	getSensor () const

SensorBasePtr	getSensor ()

YAML::Node	getParams () const

bool	isMotionProvider () const

bool	applyLossFunction () const

bool	isVotingActive () const

double	getTimeTolerance () const

void	setApplyLossFunction (bool _apply_loss_function)

void	setVotingActive (bool _voting_active)

void	setTimeTolerance (double _time_tolerance)

void	setDebugVerboseLevel (const std::string &_debug_verbose_level)

std::string	getDebugVerboseLevel () const

bool	checkTimeTolerance (const TimeStamp &_ts1, const TimeStamp &_ts2) const

bool	checkTimeTolerance (const CaptureBasePtr _cap, const TimeStamp &_ts) const

bool	checkTimeTolerance (const FrameBasePtr _frm, const TimeStamp &_ts) const

bool	checkTimeTolerance (const FrameBasePtr _frm, const CaptureBasePtr _cap) const

virtual void	link (SensorBasePtr) final

virtual void	printHeader (int depth, bool factored_by, bool metric, bool state_blocks, std::ostream &stream, std::string _tabs="") const

void	print (int depth, bool factored_by, bool metric, bool state_blocks, std::ostream &stream=std::cout, std::string _tabs="") const

virtual CheckLog	localCheck (bool _verbose, std::ostream &_stream, std::string _tabs="") const

bool	check (CheckLog &_log, bool _verbose, std::ostream &_stream, std::string _tabs="") const

Public Member Functions inherited from wolf::NodeBase
	NodeBase (const std::string &_category, const std::string &_type="Undefined", const std::string &_name="")

virtual	~NodeBase ()=default

unsigned int	nodeId () const

std::string	getCategory () const

std::string	getType () const

std::string	getName () const

bool	isRemoving () const

virtual bool	hasChildren () const =0

void	setType (const std::string &_type)

void	setName (const std::string &_name)

ProblemConstPtr	getProblem () const

ProblemPtr	getProblem ()

Protected Member Functions
virtual void	process (CaptureBasePtr)
	Process a capture (linked to a frame) If voteFindLoopClosures() returns true, findLoopClosures() is called. emplaceFactors() is called for pairs of current capture and each capture returned by findLoopClosures() More...

virtual bool	voteFindLoopClosures (CaptureBasePtr cap)=0
	Returns if findLoopClosures() has to be called for the given capture. More...

virtual void	emplaceFeatures (CaptureBasePtr cap)=0
	detects and emplaces all features of the given capture More...

virtual std::map< double, MatchLoopClosurePtr >	findLoopClosures (CaptureBasePtr _capture)=0
	Find captures that correspond to loop closures with the given capture. More...

virtual bool	validateLoopClosure (MatchLoopClosurePtr)=0
	validates a loop closure More...

virtual void	emplaceFactors (MatchLoopClosurePtr)=0
	emplaces the factor(s) corresponding to a Loop Closure between two captures More...

void	processCapture (CaptureBasePtr) override
	process an incoming capture More...

void	processKeyFrame (FrameBasePtr _frm) override
	process an incoming key-frame More...

bool	triggerInCapture (CaptureBasePtr _cap) const override
	trigger in capture More...

bool	triggerInKeyFrame (FrameBasePtr _frm) const override
	trigger in key-frame More...

bool	storeKeyFrame (FrameBasePtr _frm) override
	store key frame More...

bool	storeCapture (CaptureBasePtr _cap) override
	store capture More...

bool	voteForKeyFrame () const override
	Vote for KeyFrame generation. More...

Protected Member Functions inherited from wolf::ProcessorBase
virtual void	processCapture (CaptureBasePtr)=0
	process an incoming capture More...

virtual void	processKeyFrame (FrameBasePtr _keyframe_ptr)=0
	process an incoming key-frame More...

virtual bool	triggerInCapture (CaptureBasePtr) const =0
	trigger in capture More...

virtual bool	triggerInKeyFrame (FrameBasePtr) const =0
	trigger in key-frame More...

virtual bool	storeKeyFrame (FrameBasePtr)=0
	store key frame More...

virtual bool	storeCapture (CaptureBasePtr)=0
	store capture More...

virtual bool	voteForKeyFrame () const =0
	Vote for KeyFrame generation. More...

virtual bool	permittedKeyFrame () const final

void	setProblem (ProblemPtr) override

void	addTypes (const TypeComposite &)
	add state types More...

virtual void	setProblem (ProblemPtr _prob_ptr)

Additional Inherited Members
Protected Attributes inherited from wolf::ProcessorBase
unsigned int	processor_id_

YAML::Node	params_

BufferFrame	buffer_frame_

BufferCapture	buffer_capture_

std::string	debug_verbose_level_

Protected Attributes inherited from wolf::NodeBase
ProblemWPtr	problem_ptr_

unsigned int	node_id_
	Node id. It is unique over the whole Wolf Tree. More...

std::string	node_category_
	Text label identifying the category of node ("SENSOR", "FEATURE", etc) More...

std::string	node_type_
	Text label identifying the type or subcategory of node ("Pin Hole", "Point 2d", etc) More...

std::string	node_name_

bool	is_removing_
	A flag for safely removing nodes from the Wolf tree. See remove(). More...

Detailed Description

General loop closure processor.

This is an abstract class.

You must define the following classes :
- voteFindLoopClosures(CaptureBasePtr)
- emplaceFeatures(CaptureBasePtr)
- findLoopClosures(CaptureBasePtr)
- validateLoop(CaptureBasePtr, CaptureBasePtr)
- emplaceFactors(CaptureBasePtr, CaptureBasePtr)
You can override the following classes :
- process(CaptureBasePtr)

Constructor & Destructor Documentation

◆ ProcessorLoopClosure()

wolf::ProcessorLoopClosure::ProcessorLoopClosure	(	const std::string &	_type,
		const TypeComposite &	_state_types,
		const YAML::Node &	_params
	)

◆ ~ProcessorLoopClosure()

wolf::ProcessorLoopClosure::~ProcessorLoopClosure ( )

overridedefault

Member Function Documentation

◆ configure()

void wolf::ProcessorLoopClosure::configure ( SensorBasePtr _sensor )

inlineoverridevirtual

Implements wolf::ProcessorBase.

◆ emplaceFactors()

virtual void wolf::ProcessorLoopClosure::emplaceFactors ( MatchLoopClosurePtr )

protectedpure virtual

emplaces the factor(s) corresponding to a Loop Closure between two captures

◆ emplaceFeatures()

virtual void wolf::ProcessorLoopClosure::emplaceFeatures ( CaptureBasePtr cap )

protectedpure virtual

detects and emplaces all features of the given capture

◆ findLoopClosures()

virtual std::map< double, MatchLoopClosurePtr > wolf::ProcessorLoopClosure::findLoopClosures ( CaptureBasePtr _capture )

protectedpure virtual

Find captures that correspond to loop closures with the given capture.

◆ getMaxLoops()

int wolf::ProcessorLoopClosure::getMaxLoops ( ) const

inline

◆ process()

void wolf::ProcessorLoopClosure::process ( CaptureBasePtr _capture )

protectedvirtual

Process a capture (linked to a frame) If voteFindLoopClosures() returns true, findLoopClosures() is called. emplaceFactors() is called for pairs of current capture and each capture returned by findLoopClosures()

◆ processCapture()

void wolf::ProcessorLoopClosure::processCapture ( CaptureBasePtr )

overrideprotectedvirtual

process an incoming capture

Each derived processor should implement this function. It will be called if:

A new capture arrived and triggerInCapture() returned true.

Implements wolf::ProcessorBase.

◆ processKeyFrame()

void wolf::ProcessorLoopClosure::processKeyFrame ( FrameBasePtr _keyframe_ptr )

overrideprotectedvirtual

process an incoming key-frame

Each derived processor should implement this function. It will be called if:

A new KF arrived and triggerInKF() returned true.

Implements wolf::ProcessorBase.

◆ setMaxLoops()

void wolf::ProcessorLoopClosure::setMaxLoops ( int _max_loops )

inline

◆ storeCapture()

bool wolf::ProcessorLoopClosure::storeCapture ( CaptureBasePtr )

inlineoverrideprotectedvirtual

store capture

Returns true if the capture should be stored

Implements wolf::ProcessorBase.

◆ storeKeyFrame()

bool wolf::ProcessorLoopClosure::storeKeyFrame ( FrameBasePtr )

inlineoverrideprotectedvirtual

store key frame

Returns true if the key frame should be stored

Implements wolf::ProcessorBase.

◆ triggerInCapture()

bool wolf::ProcessorLoopClosure::triggerInCapture ( CaptureBasePtr ) const

inlineoverrideprotectedvirtual

trigger in capture

Returns true if processCapture() should be called after the provided capture arrived.

Implements wolf::ProcessorBase.

◆ triggerInKeyFrame()

bool wolf::ProcessorLoopClosure::triggerInKeyFrame ( FrameBasePtr ) const

inlineoverrideprotectedvirtual

trigger in key-frame

Returns true if processKeyFrame() should be called after the provided KF arrived.

Implements wolf::ProcessorBase.

◆ validateLoopClosure()

virtual bool wolf::ProcessorLoopClosure::validateLoopClosure ( MatchLoopClosurePtr )

protectedpure virtual

validates a loop closure

◆ voteFindLoopClosures()

virtual bool wolf::ProcessorLoopClosure::voteFindLoopClosures ( CaptureBasePtr cap )

protectedpure virtual

Returns if findLoopClosures() has to be called for the given capture.

◆ voteForKeyFrame()

bool wolf::ProcessorLoopClosure::voteForKeyFrame ( ) const

inlineoverrideprotectedvirtual

Vote for KeyFrame generation.

If a KeyFrame criterion is validated, this function returns true, meaning that it wants to create a KeyFrame at the last Capture.

WARNING! This function only votes! It does not create KeyFrames!

Implements wolf::ProcessorBase.

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

include/core/processor/processor_loop_closure.h
src/processor/processor_loop_closure.cpp

Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ ProcessorLoopClosure()

◆ ~ProcessorLoopClosure()

Member Function Documentation

◆ configure()

◆ emplaceFactors()

◆ emplaceFeatures()

◆ findLoopClosures()

◆ getMaxLoops()

◆ process()

◆ processCapture()

◆ processKeyFrame()

◆ setMaxLoops()

◆ storeCapture()

◆ storeKeyFrame()

◆ triggerInCapture()

◆ triggerInKeyFrame()

◆ validateLoopClosure()

◆ voteFindLoopClosures()

◆ voteForKeyFrame()