diff --git a/include/core/processor/processor_loopclosure_base.h b/include/core/processor/processor_loopclosure_base.h index c96dba19fb7149c7c06f31c57a0e5fea1f3cbac7..151e7def92e1fcc2044f2e4d9be4b9c512804cea 100644 --- a/include/core/processor/processor_loopclosure_base.h +++ b/include/core/processor/processor_loopclosure_base.h @@ -96,19 +96,19 @@ protected: * if validateLoop is not overwritten, a loop will be closed with the returned candidate * if no good candidate is found, return nullptr */ - virtual FrameBasePtr findLoopCandidate(FrameBasePtr _key_frame) = 0; + virtual CaptureBasePtr findLoopCandidate(CaptureBasePtr _capture) = 0; /** \brief validate/discard a loop closure * * overwrite it if you want an additional test after findLoopCandidate() */ - bool validateLoop(FrameBasePtr _key_frame_1, FrameBasePtr _key_frame_2) {return true;}; + bool validateLoop(CaptureBasePtr _capture_1, CaptureBasePtr _capture_2) {return true;}; /** \brief create the factor(s) * * overwrite it if needed */ - virtual void createFactors(FrameBasePtr _key_frame_1, FrameBasePtr _key_frame_2) = 0; + virtual void createFactors(CaptureBasePtr _capture_1, CaptureBasePtr _capture_2) = 0; /** Pre-process incoming Capture diff --git a/src/processor/processor_loopclosure_base.cpp b/src/processor/processor_loopclosure_base.cpp index 422075c92250eb98c914909d2c33db13f791f2b1..f981cb0abf2095b6f11043fe895ae1f6f29969fd 100644 --- a/src/processor/processor_loopclosure_base.cpp +++ b/src/processor/processor_loopclosure_base.cpp @@ -32,11 +32,11 @@ void ProcessorLoopClosureBase::process(CaptureBasePtr _incoming_ptr) 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); + CaptureBasePtr capture_1 = pairKC.second; + CaptureBasePtr capture_2 = findLoopCandidate(capture_1); + if (capture_2==nullptr) return; + if (validateLoop(capture_1, capture_2)==false) return; + createFactors(capture_1, capture_2); }; };