Resolve "New ProcessorLoopClosure"

Closes #398 (closed)

include/core/processor/processor_loop_closure.h

@@ -16,6 +16,20 @@ struct ParamsProcessorLoopClosure : public ParamsProcessorBase
     // add neccesery parameters for loop closure initialisation here and initialize
     // them in constructor
 };
+    
+WOLF_STRUCT_PTR_TYPEDEFS(MatchLoopClosure);
+
+/** \brief Match between a capture and a capture
+ *
+ * Match between a capture and a capture (capture-capture correspondence)
+ *
+ */
+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)
+};
 
 /** \brief General loop closure processor
  *
@@ -29,7 +43,6 @@ struct ParamsProcessorLoopClosure : public ParamsProcessorBase
  * + You can override the following classes :
  *   - process(CaptureBasePtr)
  */
-
 class ProcessorLoopClosure : public ProcessorBase
 {
 protected:
@@ -61,15 +74,15 @@ protected:
 
     /** \brief Find captures that correspond to loop closures with the given capture
      */
-    virtual CaptureBasePtrList findLoopClosures(CaptureBasePtr _capture) = 0;
+    virtual std::list<MatchLoopClosurePtr> findLoopClosures(CaptureBasePtr _capture) = 0;
 
     /** \brief validates a loop closure
      */
-    virtual bool validateLoopClosure(CaptureBasePtr _capture_1, CaptureBasePtr _capture_2) = 0;
+    virtual bool validateLoopClosure(MatchLoopClosurePtr) = 0;
 
     /** \brief emplaces the factor(s) corresponding to a Loop Closure between two captures
      */
-    virtual void emplaceFactors(CaptureBasePtr _capture_1, CaptureBasePtr _capture_2) = 0;
+    virtual void emplaceFactors(MatchLoopClosurePtr) = 0;
 
     void processCapture(CaptureBasePtr) override;
     void processKeyFrame(FrameBasePtr, const double&) override;