Using different features for loop closure and transformation estimation

Posted by tango_explorer on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Using-different-features-for-loop-closure-and-transformation-estimation-tp3587.html

Hi,

I'm fiddling with the idea of using different features for loop closure detection and transformation estimation. Right now, I'm thinking that the best way to go about this would be to add a separate keypoint/descriptor data object to sensor data class and work with that. I was wondering if anyone knows of an easier way to do this and what files would I need to change to make sure I don't break anything dependent on having the features the same for loop closure and transformation estimation?

Thanks