Collaboration diagram for ORB_SLAM2::LoopClosing:

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Public Types
typedef pair< set< KeyFrame * >, int >	ConsistentGroup

typedef map< KeyFrame , g2o::Sim3, std::less< KeyFrame >, Eigen::aligned_allocator< std::pair< const KeyFrame *, g2o::Sim3 > > >	KeyFrameAndPose

Public Member Functions
	LoopClosing (Map pMap, KeyFrameDatabase pDB, ORBVocabulary *pVoc, const bool bFixScale)

void	SetTracker (Tracking *pTracker)

void	SetLocalMapper (LocalMapping *pLocalMapper)

void	Run ()

void	InsertKeyFrame (KeyFrame *pKF)

void	RequestReset ()

void	RunGlobalBundleAdjustment (unsigned long nLoopKF)

bool	isRunningGBA ()

bool	isFinishedGBA ()

void	RequestFinish ()

bool	isFinished ()

Protected Member Functions
bool	CheckNewKeyFrames ()

bool	DetectLoop ()

bool	ComputeSim3 ()

void	SearchAndFuse (const KeyFrameAndPose &CorrectedPosesMap)

void	CorrectLoop ()

void	ResetIfRequested ()

bool	CheckFinish ()

void	SetFinish ()

Protected Attributes
bool	mbResetRequested

std::mutex	mMutexReset

bool	mbFinishRequested

bool	mbFinished

std::mutex	mMutexFinish

Map *	mpMap

Tracking *	mpTracker

KeyFrameDatabase *	mpKeyFrameDB

ORBVocabulary *	mpORBVocabulary

LocalMapping *	mpLocalMapper

std::list< KeyFrame * >	mlpLoopKeyFrameQueue

std::mutex	mMutexLoopQueue

float	mnCovisibilityConsistencyTh

KeyFrame *	mpCurrentKF

KeyFrame *	mpMatchedKF

std::vector< ConsistentGroup >	mvConsistentGroups

std::vector< KeyFrame * >	mvpEnoughConsistentCandidates

std::vector< KeyFrame * >	mvpCurrentConnectedKFs

std::vector< MapPoint * >	mvpCurrentMatchedPoints

std::vector< MapPoint * >	mvpLoopMapPoints

cv::Mat	mScw

g2o::Sim3	mg2oScw

long unsigned int	mLastLoopKFid

bool	mbRunningGBA

bool	mbFinishedGBA

bool	mbStopGBA

std::mutex	mMutexGBA

std::thread *	mpThreadGBA

bool	mbFixScale

bool	mnFullBAIdx

The documentation for this class was generated from the following files:

Public Types

Public Member Functions