Swarm-SLAM  1.0.0
C-SLAM Framework
Public Member Functions | List of all members
cslam::MapManager< DataHandlerType > Class Template Reference

Loop Closure Detection Management. More...

#include <map_manager.h>

Inheritance diagram for cslam::MapManager< DataHandlerType >:
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Public Member Functions

 MapManager (std::shared_ptr< rclcpp::Node > &node)
 Initialization of parameters and ROS 2 objects. More...
 
 ~MapManager ()
 
void process_new_sensor_data ()
 Looks for loop closures in the current keyframe queue. More...
 
- Public Member Functions inherited from cslam::IMapManager
virtual ~IMapManager ()
 

Detailed Description

template<class DataHandlerType>
class cslam::MapManager< DataHandlerType >

Loop Closure Detection Management.

  • Receives keyframes from RTAB-map
  • Generate keypoints from frames
  • Sends/Receives keypoints from other robot frames
  • Computes geometric verification
Template Parameters
DataHandlerTypeDepends on the type of input data (stereo, rgbd, etc.)

Definition at line 32 of file map_manager.h.

Constructor & Destructor Documentation

◆ MapManager()

template<class DataHandlerType >
MapManager::MapManager ( std::shared_ptr< rclcpp::Node > &  node)

Initialization of parameters and ROS 2 objects.

Parameters
nodeROS 2 node handle

Definition at line 7 of file map_manager.cpp.

◆ ~MapManager()

template<class DataHandlerType >
cslam::MapManager< DataHandlerType >::~MapManager ( )
inline

Definition at line 40 of file map_manager.h.

Member Function Documentation

◆ process_new_sensor_data()

template<class DataHandlerType >
void MapManager::process_new_sensor_data

Looks for loop closures in the current keyframe queue.

Definition at line 25 of file map_manager.cpp.

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