• args : cslam.lidar_handler_node , cslam.loop_closure_detection_node
• CHANNELS_NUM_IN_LAST_CONV : network
• DUMMY_FIELD_PREFIX : point_cloud2
• FIELDS_XYZ : icp_utils
• GlobalDescriptor : test_sparse_matching
• IMAGENET_DEFAULT_MEAN : cosplace , netvlad
• IMAGENET_DEFAULT_STD : cosplace , netvlad
• lcd : cslam.loop_closure_detection_node
• lidar_handler : cslam.lidar_handler_node
• namespace : cslam.lidar_handler_node
• node : cslam.lidar_handler_node
• parameters : cslam.lidar_handler_node
• params : cslam.lidar_handler_node
• precision : scancontext_utils