请问 loop closure detected 的代码在哪

baidu / boteye

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Closed zhoubonan closed 5 years ago

zhoubonan commented 5 years ago

我这边想在闭环优化的时候添加一些输出的内容和轨迹文件的保存在app_tracking.cpp中没有找到具体代码所在的位置.. 谢谢

mingyux commented 5 years ago

The map is serialized to a .pb file when exiting app_tracking. We don't have an API for the feature you're requesting at this moment. You may want to call XP_TRACKER::save_map explicitly. https://github.com/baidu/boteye/blob/master/include/XP/app_api/xp_tracker.h#L115