diff --git a/include/core/processor/processor_loop_closure.h b/include/core/processor/processor_loop_closure.h
index bb0c9f17041de6cf80919b046c6a5218eaf05518..94af3fa1692397e533db0379a342a39edebb51e0 100644
--- a/include/core/processor/processor_loop_closure.h
+++ b/include/core/processor/processor_loop_closure.h
@@ -22,10 +22,10 @@ struct ParamsProcessorLoopClosure : public ParamsProcessorBase
std::string print() const override
{
return "\n" + ParamsProcessorBase::print()
- + "max_loops: " + std::to_string(max_loops) + "\n";
+ + "max_loops: " + std::to_string(max_loops) + "\n";
}
};
-
+
WOLF_STRUCT_PTR_TYPEDEFS(MatchLoopClosure);
/** \brief Match between a capture and a capture
@@ -35,9 +35,9 @@ WOLF_STRUCT_PTR_TYPEDEFS(MatchLoopClosure);
*/
struct MatchLoopClosure
{
- CaptureBasePtr capture_reference_ptr_; ///< Capture reference
- CaptureBasePtr capture_target_ptr_; ///< Capture target
- double normalized_score_; ///< normalized similarity score (0 is bad, 1 is good)
+ CaptureBasePtr capture_reference; ///< Capture reference
+ CaptureBasePtr capture_target; ///< Capture target
+ double normalized_score; ///< normalized similarity score (0 is bad, 1 is good)
};
/** \brief General loop closure processor
@@ -54,55 +54,55 @@ struct MatchLoopClosure
*/
class ProcessorLoopClosure : public ProcessorBase
{
-protected:
+ protected:
- ParamsProcessorLoopClosurePtr params_loop_closure_;
+ ParamsProcessorLoopClosurePtr params_loop_closure_;
-public:
+ public:
- ProcessorLoopClosure(const std::string& _type, int _dim, ParamsProcessorLoopClosurePtr _params_loop_closure);
+ ProcessorLoopClosure(const std::string& _type, int _dim, ParamsProcessorLoopClosurePtr _params_loop_closure);
- ~ProcessorLoopClosure() override = default;
- void configure(SensorBasePtr _sensor) override { };
+ ~ProcessorLoopClosure() override = default;
+ void configure(SensorBasePtr _sensor) override { };
-protected:
+ protected:
- /** \brief 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()
- */
- virtual void process(CaptureBasePtr);
+ /** \brief 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()
+ */
+ virtual void process(CaptureBasePtr);
- /** \brief Returns if findLoopClosures() has to be called for the given capture
- */
- virtual bool voteFindLoopClosures(CaptureBasePtr cap) = 0;
+ /** \brief Returns if findLoopClosures() has to be called for the given capture
+ */
+ virtual bool voteFindLoopClosures(CaptureBasePtr cap) = 0;
- /** \brief detects and emplaces all features of the given capture
- */
- virtual void emplaceFeatures(CaptureBasePtr cap) = 0;
+ /** \brief detects and emplaces all features of the given capture
+ */
+ virtual void emplaceFeatures(CaptureBasePtr cap) = 0;
- /** \brief Find captures that correspond to loop closures with the given capture
- */
- virtual std::map<double,MatchLoopClosurePtr> findLoopClosures(CaptureBasePtr _capture) = 0;
+ /** \brief Find captures that correspond to loop closures with the given capture
+ */
+ virtual std::map<double,MatchLoopClosurePtr> findLoopClosures(CaptureBasePtr _capture) = 0;
- /** \brief validates a loop closure
- */
- virtual bool validateLoopClosure(MatchLoopClosurePtr) = 0;
+ /** \brief validates a loop closure
+ */
+ virtual bool validateLoopClosure(MatchLoopClosurePtr) = 0;
- /** \brief emplaces the factor(s) corresponding to a Loop Closure between two captures
- */
- virtual void emplaceFactors(MatchLoopClosurePtr) = 0;
+ /** \brief emplaces the factor(s) corresponding to a Loop Closure between two captures
+ */
+ virtual void emplaceFactors(MatchLoopClosurePtr) = 0;
- void processCapture(CaptureBasePtr) override;
- void processKeyFrame(FrameBasePtr, const double&) override;
+ void processCapture(CaptureBasePtr) override;
+ void processKeyFrame(FrameBasePtr, const double&) override;
- bool triggerInCapture(CaptureBasePtr _cap) const override { return true;};
- bool triggerInKeyFrame(FrameBasePtr _frm, const double& _time_tol) const override { return true;};
+ bool triggerInCapture(CaptureBasePtr _cap) const override { return true;};
+ bool triggerInKeyFrame(FrameBasePtr _frm, const double& _time_tol) const override { return true;};
- bool storeKeyFrame(FrameBasePtr _frm) override { return false;};
- bool storeCapture(CaptureBasePtr _cap) override { return false;};
+ bool storeKeyFrame(FrameBasePtr _frm) override { return false;};
+ bool storeCapture(CaptureBasePtr _cap) override { return false;};
- bool voteForKeyFrame() const override { return false;};
+ bool voteForKeyFrame() const override { return false;};
};
} // namespace wolf
diff --git a/test/dummy/processor_loop_closure_dummy.h b/test/dummy/processor_loop_closure_dummy.h
index a391ad9bd593b164b5bfbb0607295e72763852e4..388f2f0dd5f13624d21115a9351680ceb92ce743 100644
--- a/test/dummy/processor_loop_closure_dummy.h
+++ b/test/dummy/processor_loop_closure_dummy.h
@@ -44,14 +44,14 @@ class ProcessorLoopClosureDummy : public ProcessorLoopClosure
(feat->getMeasurement() - _capture->getFeatureList().front()->getMeasurement()).norm() < 1e-3)
{
MatchLoopClosurePtr match = std::make_shared<MatchLoopClosure>();
- match->capture_reference_ptr_ = cap;
- match->capture_target_ptr_ = _capture;
- match->normalized_score_ = 1;
+ match->capture_reference = cap;
+ match->capture_target = _capture;
+ match->normalized_score = 1;
- while (match_lc_map.count(match->normalized_score_))
- match->normalized_score_ -= 1e-9;
+ while (match_lc_map.count(match->normalized_score))
+ match->normalized_score -= 1e-9;
- match_lc_map.emplace(match->normalized_score_, match);
+ match_lc_map.emplace(match->normalized_score, match);
}
old_frame = old_frame->getPreviousFrame();
@@ -63,7 +63,7 @@ class ProcessorLoopClosureDummy : public ProcessorLoopClosure
void emplaceFactors(MatchLoopClosurePtr match) override
{
FeatureBasePtr feat_2;
- for (auto feat : match->capture_target_ptr_->getFeatureList())
+ for (auto feat : match->capture_target->getFeatureList())
if (feat->getType() == "FeatureLoopClosureDummy")
{
feat_2 = feat;
@@ -71,7 +71,7 @@ class ProcessorLoopClosureDummy : public ProcessorLoopClosure
}
FactorBase::emplace<FactorRelativePose2d>(feat_2, feat_2,
- match->capture_reference_ptr_->getFrame(),
+ match->capture_reference->getFrame(),
shared_from_this(),
false,
TOP_LOOP);