provide loop information from other algorithm

[CanCanZeng]

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]

@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]

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