Detect more loop closures from/to specific map ID only option#1653
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Detect more loop closures from/to specific map ID only option#1653
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Added option to "detect more loop closures" tool to detect loop closures only from or to a specific mapping session. This is useful when appending a new map to an existing database when we only want to find more loop closures between the new session and all other sessions already in the database. This speeds up the process significantly if we append often new mapping sessions repeatedly.
New optimizations for
rtabmap-detectMoreLoopClosurestool:Kp/NNStrategy>=3, flann index is not rebuilt anymore, thus faster initializationMem/LoadVisualLocalFeaturesOnInit=falseto not load all features in RAM