From b9b188693d906a2c76a0140337307046e00e6352 Mon Sep 17 00:00:00 2001
From: PierreGtch <pierre.guetschel@gmail.com>
Date: Tue, 18 Jun 2019 14:42:53 +0200
Subject: [PATCH] ProcessorLoopClosureBase : manipulate captures instead of
frames
---
include/core/processor/processor_loopclosure_base.h | 6 +++---
src/processor/processor_loopclosure_base.cpp | 10 +++++-----
2 files changed, 8 insertions(+), 8 deletions(-)
diff --git a/include/core/processor/processor_loopclosure_base.h b/include/core/processor/processor_loopclosure_base.h
index c96dba19f..151e7def9 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 422075c92..f981cb0ab 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);
};
};
--
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