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Commit 4f15d722 authored by Joan Vallvé Navarro's avatar Joan Vallvé Navarro
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Merge branch 'devel' into 'master' 

Devel MG

See merge request mobile_robotics/falkolib!1
parents 327bafa8 0017c6c5
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1 merge request!1Devel MG
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.gitignore
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...@@ -26,3 +26,6 @@ ...@@ -26,3 +26,6 @@
*.exe *.exe
*.out *.out
*.app *.app
build
bin
CMakeLists.txt
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...@@ -2,6 +2,7 @@ cmake_minimum_required(VERSION 2.8) ...@@ -2,6 +2,7 @@ cmake_minimum_required(VERSION 2.8)
project(falkolib) project(falkolib)
set(CMAKE_BUILD_TYPE Release) set(CMAKE_BUILD_TYPE Release)
add_definitions(-std=c++0x) # Enabling c++11 add_definitions(-std=c++0x) # Enabling c++11
set(CMAKE_POSITION_INDEPENDENT_CODE ON)
SET(falkolib_RUNTIME_OUTPUT_DIRECTORY ${falkolib_SOURCE_DIR}/bin CACHE PATH "Target for the binaries") SET(falkolib_RUNTIME_OUTPUT_DIRECTORY ${falkolib_SOURCE_DIR}/bin CACHE PATH "Target for the binaries")
SET(falkolib_LIBRARY_OUTPUT_DIRECTORY ${falkolib_SOURCE_DIR}/lib CACHE PATH "Target for the libraries") SET(falkolib_LIBRARY_OUTPUT_DIRECTORY ${falkolib_SOURCE_DIR}/lib CACHE PATH "Target for the libraries")
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include/falkolib/Matching/AHTMatcher.h
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...@@ -138,6 +138,8 @@ namespace falkolib { ...@@ -138,6 +138,8 @@ namespace falkolib {
/** @brief get best matching given point and an initial guest associations list*/ /** @brief get best matching given point and an initial guest associations list*/
int getBestMatching(const std::vector<T>& v1, const std::vector<T>& v2, const std::vector<std::pair<int, int> >& init, std::vector<std::pair<int, int> >& match) { int getBestMatching(const std::vector<T>& v1, const std::vector<T>& v2, const std::vector<std::pair<int, int> >& init, std::vector<std::pair<int, int> >& match) {
for (auto &cell : matchesGrid)
cell.clear();
for (auto& asso : init) { for (auto& asso : init) {
for (int it = 0; it < thetaSize; ++it) { for (int it = 0; it < thetaSize; ++it) {
double theta = thetaRes * (it - thetaSize / 2); double theta = thetaRes * (it - thetaSize / 2);
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