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Rtabmap::detectorMoreLoopClosures() added intraSession and interSession parameters

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matlabbe
2018-11-05 18:40:08 -05:00
parent 4f1deef971
commit 09a63bbc5b
9 changed files with 529 additions and 323 deletions
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8
corelib/include/rtabmap/core/Rtabmap.h
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@@ -166,7 +166,13 @@ public:
bool optimized,
bool global,
std::map<int, Signature> * signatures = 0);
int detectMoreLoopClosures(float clusterRadius = 0.5f, float clusterAngle = M_PI/6.0f, int iterations = 1, const ProgressState * state = 0);
int detectMoreLoopClosures(
float clusterRadius = 0.5f,
float clusterAngle = M_PI/6.0f,
int iterations = 1,
bool intraSession = true,
bool interSession = true,
const ProgressState * state = 0);
int refineLinks();
cv::Mat getInformation(const cv::Mat & covariance) const;