From 017ef00788b00cc43e26c8d3f4b631c29da6cdcb Mon Sep 17 00:00:00 2001
From: Sergi Pujol <sergi.pujol.badell@estudiantat.upc.edu>
Date: Sun, 14 Feb 2021 19:44:11 +0100
Subject: [PATCH] added parameters to loopClosureFalko constructor
---
src/loop_closure_falko.cpp | 14 +++++++++++++-
src/loop_closure_falko.h | 2 +-
2 files changed, 14 insertions(+), 2 deletions(-)
diff --git a/src/loop_closure_falko.cpp b/src/loop_closure_falko.cpp
index ebf430a..d64e96b 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 ea7f16d..2472753 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:
--
GitLab