Template Function matching_based_loopclosure::scoring::computeProbabilisticScore¶
Defined in File scoring.h
Function Documentation¶
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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)¶