diff --git a/src/loop_closure_falko.cpp b/src/loop_closure_falko.cpp index ebf430aeee3f084716f9662273dd9be424da1926..d64e96b3e9a710212f9b03d895b17701ddf7c0b1 100644 --- a/src/loop_closure_falko.cpp +++ b/src/loop_closure_falko.cpp @@ -9,11 +9,23 @@ namespace laserscanutils{ + //CONSTRUCTOR template <typename Extractor, typename Matcher> loopClosureFalko<Extractor, Matcher>::loopClosureFalko(){ - + // FALKO Extractor Parameters + setMinExtractionRange(0.1); + setMaxExtractionRange(25); + enableSubbeam(true); + setNMSRadius(0.1); + setNeighB(0.01); + setBRatio(4); + setGridSectors(16); + + // Matcher Extractor Parameters + matcher.setDistanceThreshold(0.1); } + // DESTRUCTOR template <typename Extractor, typename Matcher> loopClosureFalko<Extractor, Matcher>::~loopClosureFalko(){} diff --git a/src/loop_closure_falko.h b/src/loop_closure_falko.h index ea7f16db317907df6e0dd341cb28fd24e46ebe48..24727537319be3e67b0f2a4ee86c9d1326dce5cf 100644 --- a/src/loop_closure_falko.h +++ b/src/loop_closure_falko.h @@ -40,7 +40,7 @@ typedef falkolib::NNMatcher<falkolib::FALKO> NNMatcher; /** \brief A base class for loop closure using falko library **/ template <typename Extractor, typename Matcher> -class loopClosureFalko{ +class loopClosureFalko : public falkolib::FALKOExtractor{ private: public: