Skip to content

[feat] Add an autostart plugin for SLAM

Tong Fu requested to merge feat/CreatePopUpForLoopClosure into master


  • when a loop is detected, display where the loop is and ask the user what he wishes to do:
    • Close loop now : use loop closure constraint to optimize graph
    • Discard: do not use this detected loop
    • Keep it for later: save detected loop indice for slam to be used later

Below is a screen shot after a loop is detected. Trajectory is coloring in Time. Orange sphere indicates the revisited zone for the current frame.



  • The positions of detected revisited frame and query frame for loop closure need to be displayed in PV (maybe coloring the points of the relative frames). So that the user can see where the loop has been detected exactly.
  • Update videos

Old demo:



Edited by Tong Fu

Merge request reports