From adcf41202603c96d3620eae8e64957f1aaf4d7d6 Mon Sep 17 00:00:00 2001
From: PierreGtch <pierre.guetschel@gmail.com>
Date: Thu, 6 Jun 2019 17:50:16 +0200
Subject: [PATCH] Split decisions of searching for LC and creating features
---
.../processor/processor_loopclosure_base2.h | 17 ++++------
src/processor/processor_loopclosure_base2.cpp | 32 ++++++++-----------
2 files changed, 20 insertions(+), 29 deletions(-)
diff --git a/include/core/processor/processor_loopclosure_base2.h b/include/core/processor/processor_loopclosure_base2.h
index 017420268..2a5f32347 100644
--- a/include/core/processor/processor_loopclosure_base2.h
+++ b/include/core/processor/processor_loopclosure_base2.h
@@ -21,6 +21,7 @@ struct ProcessorParamsLoopClosure2 : public ProcessorParamsBase
*
* This is an abstract class.
* + You must define the following classes :
+ * - voteComputeFeatures()
* - voteSearchLoopClosure()
* - computeFeatures()
* - findLoopCandidate()
@@ -63,21 +64,15 @@ public:
protected:
- /** \brief Called by process(). Tells if processLoopClosure will be called
+ /** \brief Called by process(). Tells if computeFeatures() will be called
*/
- virtual bool voteSearchLoopClosure(CaptureBasePtr _incoming_ptr) = 0;
+ virtual bool voteComputeFeatures(CaptureBasePtr _incoming_ptr) = 0;
- /** \brief Tries to close a loop
+ /** \brief Called by process(). Tells if findLoopCandidate() and createFactors() will be called
*
- * this method is called in process() if voteSearchLoopClosure retruns true
- * this method uses :
- * - selectPairKC()
- * - computeFeatures()
- * - findLoopCandidate()
- * - validateLoop()
- * - createFactors()
+ * WARNING : A LC can be searched only when voteComputeFeatures() return true
*/
- void processLoopClosure(void);
+ virtual bool voteSearchLoopClosure(CaptureBasePtr _incoming_ptr) = 0;
/** \brief returns a KeyFrame-Capture pair compatible together (selected from the buffers)
*
diff --git a/src/processor/processor_loopclosure_base2.cpp b/src/processor/processor_loopclosure_base2.cpp
index 7cc1483f8..e1360b49a 100644
--- a/src/processor/processor_loopclosure_base2.cpp
+++ b/src/processor/processor_loopclosure_base2.cpp
@@ -24,30 +24,26 @@ void ProcessorLoopClosureBase2::process(CaptureBasePtr _incoming_ptr)
// the pre-process, if necessary, is implemented in the derived classes
preProcess();
- if (voteSearchLoopClosure(_incoming_ptr))
+ if (voteComputeFeatures(_incoming_ptr))
{
- //CREAT_THREAD(function=processLoopClosure);
- processLoopClosure();
+ std::pair<FrameBasePtr,CaptureBasePtr> pairKC = selectPairKC();
+ if (pairKC.first==nullptr || pairKC.second==nullptr) return;
+ computeFeatures(pairKC);
+
+ if (voteSearchLoopClosure(_incoming_ptr))
+ {
+ FrameBasePtr key_frame_1 = pairKC.first;
+ FrameBasePtr key_frame_2 = findLoopCandidate(key_frame_1);
+ if (key_frame_2==nullptr) return;
+ if (validateLoop(key_frame_1, key_frame_2)==false) return;
+ createFactors(key_frame_1, key_frame_2);
+ };
};
+
// the post-process, if necessary, is implemented in the derived classes
postProcess();
}
-void ProcessorLoopClosureBase2::processLoopClosure()
-{
- std::pair<FrameBasePtr,CaptureBasePtr> pairKC = selectPairKC();
- if (pairKC.first==nullptr || pairKC.second==nullptr)
- return;
- computeFeatures(pairKC);
- FrameBasePtr key_frame_1 = pairKC.first;
- FrameBasePtr key_frame_2 = findLoopCandidate(key_frame_1);
- if (key_frame_2==nullptr)
- return;
- if (validateLoop(key_frame_1, key_frame_2)==false)
- return;
- createFactors(key_frame_1, key_frame_2);
-}
-
/**
* In the default implementation, we select the KF with the most recent TimeStamp
* and that is compatible with at least a Capture
--
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