loop closure problem #3
Description
I was mapping and positioning in a park and found that there were many similar places in the park, which caused the position to jump back and forth in similar places during positioning. Is there any way to solve this problem? In addition, detectLoopClosureIDGivenScan will return a keyframe with the highest score. I want to get the second highest score and determine the uniqueness of the scene by the difference between the first and the second highest scores. How to implement this interface in your code?