provide loop information from other algorithm

ethz-asl / maplab

A Modular and Multi-Modal Mapping Framework

https://maplab.asl.ethz.ch

Apache License 2.0

2.64k stars 724 forks source link

provide loop information from other algorithm #316

Open CanCanZeng opened 3 years ago

CanCanZeng commented 3 years ago

Hi, is there any way to provide loop closing information to maplab? I find that in some difficult case, use default descriptor will fail in closing loop, so I wonder if I can use other way to find loop (like sift or superpoint), or just give good candidates using netvlad.

dymczykm commented 3 years ago

@CanCanZeng thanks for your question. What you propose is definitely feasible, you would need however to interface with the following modules:

LoopDetectorNode (the high level node that queries for global localization)
LoopDetectorHandler (the module that summarizes the matches and runs RANSAC geometric verification on the results + merges the landmarks)

Hope that helps!

CanCanZeng commented 3 years ago

Thank you for your help! I will look into these code.