X-lanni
28 lines
715 B
Plaintext
28 lines
715 B
Plaintext
# 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
|