| 55 | |
| 56 | namespace map_closures { |
| 57 | MapClosures::MapClosures() : config_(Config()) { |
| 58 | orb_extractor_ = |
| 59 | cv::ORB::create(nfeatures, scale_factor, n_levels, edge_threshold, first_level, WTA_K, |
| 60 | cv::ORB::ScoreType(score_type), patch_size, fast_threshold); |
| 61 | } |
| 62 | |
| 63 | MapClosures::MapClosures(const Config &config) : config_(config) { |
| 64 | orb_extractor_ = |