| 648 | } |
| 649 | |
| 650 | void STDescManager::SearchCorresSemSTD( |
| 651 | const std::vector<STDesc> &curr_stds_vec, |
| 652 | const std::vector<STDesc> &map_stds_vec) { |
| 653 | if (curr_stds_vec.size() == 0 || map_stds_vec.size() == 0) { |
| 654 | ROS_ERROR("Descriptor error!"); |
| 655 | return; |
| 656 | } |
| 657 | |
| 658 | std::vector<STDMatchList> candidate_matcher_vec; |
| 659 | semantic_selector(curr_stds_vec, map_stds_vec); |
| 660 | } |
| 661 | |
| 662 | void STDescManager::SearchCorresGeoSTD( |
| 663 | const std::vector<STDesc> &curr_stds_vec, |