Struct LoopClosure 

pub struct LoopClosure {
    pub similarity_threshold: f32,
    pub min_temporal_gap: usize,
    /* private fields */
}

Loop closure detection using bag-of-words similarity.

Fields

similarity_threshold: f32

Similarity threshold for declaring a loop candidate.

min_temporal_gap: usize

Minimum time gap (in keyframe indices) to consider a loop.

Implementations

impl LoopClosure

pub fn new(similarity_threshold: f32, min_temporal_gap: usize) -> Self

Create a new loop closure detector.

pub fn add_keyframe_descriptor(&mut self, bow: Vec<f32>)

Add a new keyframe descriptor.

pub fn query(&self, bow: &[f32]) -> Vec<(usize, f32)>

Query for loop closure candidates for the given BoW descriptor.

Returns a list of (keyframe_index, similarity_score) pairs above threshold.

pub fn num_keyframes(&self) -> usize

Number of stored keyframe descriptors.