Split decisions of searching for LC and creating features

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)
      *

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