| 660 | } |
| 661 | |
| 662 | void STDescManager::SearchCorresGeoSTD( |
| 663 | const std::vector<STDesc> &curr_stds_vec, |
| 664 | const std::vector<STDesc> &map_stds_vec) { |
| 665 | if (curr_stds_vec.size() == 0 || map_stds_vec.size() == 0) { |
| 666 | ROS_ERROR("Descriptor error!"); |
| 667 | return; |
| 668 | } |
| 669 | |
| 670 | std::vector<STDMatchList> candidate_matcher_vec; |
| 671 | naive_selector(curr_stds_vec, map_stds_vec); |
| 672 | } |
| 673 | |
| 674 | void STDescManager::SearchLoop( |
| 675 | const std::vector<STDesc> &stds_vec, std::pair<int, double> &loop_result, |