[fix] Fix loop closure bugs
Goal
Fix remaining bugs in loop closure process in library.
Changes
- Fix query/revisited bad initialization order in registration process
- Fix loop closure registration covariance
- Fix segfault due to change in keypoint type
- Add comments
Checklist
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Camel case everywhere except for ROS variables/parameters -
Lower case for local variables and lambda functions -
Upper case for members, methods and tool functions (in Utils) -
Precise namespace when calling a function (or this->X or classe.X) -
Align code (for multiline if and while, "&&" or "||" go in upper line to ensure alignement) -
Check your spaces -
between if, while, for and parenthesis -
between operators and variables: e.g. a + b -
after ","
-
-
Mind your commit titles/desc (plurals, he/she + "s", correct tags, title should begin by a verb...) -
Function names should start with a verb, variable names should start with a name -
Macros should be between {} -
Do not use negative boolean (i.e. noJoe) -
Check minimal size of the types (double -> float -> int -> uint) -
Check const and ref in functions arguments -
References should be written "type& name", not "type &name" -
Update documentation -
Add MR labels [ROS]/[ROS2]/[PV] -
If ros/ros2, update task table here -
Add a comment over each non trivial function in header files -
Add a header to each new file
Edited by Julia Sanchez