Method LoopClosure

pose_graph/src/pose_graph/LoopClosure.cpp:18–30

#include "utils/UtilsOpenCV.h"

LoopClosure::LoopClosure(Parameters& params)
    : params_(params),
      pose_graph_(nullptr),
      global_map_(nullptr),
      keyframe_tracking_queue_("keyframe_queue"),
      raw_image_buffer_(kBufferLengthNs),
      primitive_estimator_poses_buffer_(kBufferLengthNs) {
  frame_index_ = 0;
  last_translation_ = Eigen::Vector3d(-100, -100, -100);

  setup();
  shutdown_ = false;
}

void LoopClosure::setup() {
  pose_graph_ = std::unique_ptr<PoseGraph>(new PoseGraph());