Loop Closure #420
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Loop Closure #420
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Pull Request Overview
This PR introduces a loop closure detection mechanism integrated into the Graph SLAM solver. Key changes include:
- Adding a loop closure header and corresponding detection call in the SLAM solver.
- Implementing a new LoopClosure class in the perception sensor library to detect when the robot closes a loop.
- Providing the interface for the loop closure module via an updated header file.
Reviewed Changes
Copilot reviewed 3 out of 4 changed files in this pull request and generated 2 comments.
| File | Description |
|---|---|
| src/slam/src/slam_solver/graph_slam_solver.cpp | Introduces loop closure header and detection invocation in add_observations(). |
| src/perception_sensor_lib/src/loop_closure/loop_closure.cpp | Implements the loop closure detection logic with mutable internal state. |
| src/perception_sensor_lib/include/perception_sensor_lib/loop_closure/loop_closure.hpp | Declares the LoopClosure class and its detect() method. |
Files not reviewed (1)
- src/perception_sensor_lib/CMakeLists.txt: Language not supported
Davide64-dev
requested changes
Apr 24, 2025
src/perception_sensor_lib/include/perception_sensor_lib/loop_closure/loop_closure.hpp
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Davide64-dev
requested changes
Apr 25, 2025
src/perception_sensor_lib/include/perception_sensor_lib/loop_closure/lap_counter.hpp
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@Davide64-dev I wasn't able to merge with test/endtoend, there was a giant merge conflict |
Davide64-dev
approved these changes
May 7, 2025
marhcouto
requested changes
May 9, 2025
src/perception_sensor_lib/include/perception_sensor_lib/loop_closure/lap_counter.hpp
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@DiogoProPrayer is this ready for a new review? |
Davide64-dev
approved these changes
May 13, 2025
marhcouto
requested changes
May 14, 2025
src/slam/include/slam_solver/graph_slam_solver/graph_slam_solver.hpp
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src/slam/src/slam_solver/graph_slam_solver/graph_slam_solver.cpp
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src/slam/src/slam_solver/graph_slam_solver/graph_slam_solver.cpp
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lourenco31
reviewed
May 15, 2025
src/perception_sensor_lib/include/perception_sensor_lib/loop_closure/loop_closure.hpp
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| * @param threshold_dist distance (m) around origin to trigger closure | ||
| * @param first_x_cones consider a loop if you see any of these first X cones | ||
| */ | ||
| LapCounter(double threshold_dist, int first_x_cones, int border_width); |
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I'd rather see a struct with parameters, but if you have a reason not to do that, please update the doxygen documentation so that it also explains what border_width is
Davide64-dev
approved these changes
May 19, 2025
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lourenco31
approved these changes
May 22, 2025
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First iteration done, still have to test with graph slam