# Detect more loop closures service
#
#     Based on the current optimized graph, 
#     this process will try to find more nodes corresponding with each 
#     other, and thus finding more loop closures to add to graph.
# 

# Cluster radius (m),     default 1 m if not set
float32 cluster_radius_max

# Cluster radius min (m), default 0 m if not set
float32 cluster_radius_min

# Cluster angle (deg),    default 0 deg if not set
float32 cluster_angle

# Iterations,             default 1 if not set
int32 iterations

# Add only intra session loop closures
bool intra_only

# Add only inter session loop closures
bool inter_only
---
# return the number of loop closures detected, or -1 if it failed.
int32 detected