Function lvr2::findCloseScans

Function Documentation

bool lvr2::findCloseScans(const std::vector<SLAMScanPtr> &scans, size_t scan, const SLAMOptions &options, std::vector<size_t> &output)

finds Scans that are “close” to a Scan as determined by a Loopclosing strategy

Parameters:

  • scans – A vector with all Scans

  • scan – The index of the scan

  • options – The options on how to search

  • output – Will be filled with the indices of all close Scans

Returns:

true if any Scans were found, false otherwise