Method setup

pose_graph/src/pose_graph/LoopClosure.cpp:32–55

}

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

  pose_graph_->set_fast_relocalization(params_.fast_relocalization_);

  if (params_.global_mapping_params_.enabled) {
    global_map_ = std::unique_ptr<GlobalMap>(new GlobalMap());
    pose_graph_->setLoopClosureOptimizationCallback(
        std::bind(&GlobalMap::loopClosureOptimizationFinishCallback, global_map_.get(), std::placeholders::_1));
  }

  if (params_.health_params_.enabled) {
    switching_estimator_ = std::unique_ptr<SwitchingEstimator>(new SwitchingEstimator(params_));
  }

  pose_graph_->startOptimizationThread();

  // Loading vocabulary
  voc_ = new BriefVocabulary(params_.vocabulary_file_);
  BriefDatabase db;
  db.setVocabulary(*voc_, false, 0);
  LOG(INFO) << "Vocabulary loaded!";
  pose_graph_->setBriefVocAndDB(voc_, db);
}

void LoopClosure::run() {
  while (!shutdown_) {