Does loop use OverLapNet?

[hitbg-yjm]

Thanks for your great work. In PRBonn/OverlapNet , it point out that OverLapNet used in suma++, but I don't find OverLapNet using in SurfelMapping::checkLoopClosure(). It seems to loop according to residual.

[Chen-Xieyuanli]

Hey @hitbg-yjm,

Thanks for following our work!

To keep both repos standalone, we currently have no plan to release the joint part. SuMa++ therefore still uses the distance-based method for finding loops. But you could easily try to combine them by easily modifying the SurfelMapping::checkLoopClosure() to use the results from OverlapNet instead of distances.

I hope my answer helps!

[hitbg-yjm]

Thank you for your reply. It makes sense!