Template Function matching_based_loopclosure::scoring::computeProbabilisticScore

Function Documentation

template<typename ScoreIdType>
void matching_based_loopclosure::scoring::computeProbabilisticScore(const loop_closure::IdToMatches<ScoreIdType> &id_to_matches_map, const loop_closure::IdToNumDescriptors<ScoreIdType> &descriptor_count_per_id, size_t num_descriptors_in_database, ScoreList<ScoreIdType> *scores)