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Commit 0656f5e6 authored by Sergi Pujol's avatar Sergi Pujol
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gtest for loopClosureFalko.extractScene implemented

parent 9398ade1
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1 merge request!4Resolve "Implementation of Falko lib"
......@@ -33,15 +33,11 @@ namespace laserscanutils{
template <typename D,typename E, typename M>
std::shared_ptr<cornerScene<D>> loopClosureFalko<D,E, M>::extractScene(LaserScan &scan,LaserScanParams &scanParams){
auto newScene=std::make_shared<cornerScene<D>>();
auto scanFALKO =loopClosureFalko<D,E,M>::convert2LaserScanFALKO(scan, scanParams);
auto NewScene=std::make_shared<cornerScene<D>>();
//((*NewScene).keypointsList)=((*scanFALKO).ranges);
return NewScene;
// Extract keypoints
extract((*scanFALKO), ((*newScene).keypointsList));
return newScene;
}
......
......@@ -23,19 +23,16 @@ TEST(loop_closure_fako, extractScene)
loopClosureFalko<bsc, bscExtractor, NNMatcher> LCFalko;
std::cout << "AAA" << std::endl;
/*
auto newScene=LCFalko.extractScene(scan, laserParams);
std::shared_ptr<falkolib::LaserScan> scanFALKO=LCBase.convert2LaserScanFALKO(scan, laserParams);
int firstPoint = ((*scanFALKO).ranges)[0];
int detectedKeypoints =((*newScene).keypointsList).size();
EXPECT_FALSE(false);
ASSERT_TRUE(true);
ASSERT_EQ(firstPoint, 250);
*/
ASSERT_EQ(detectedKeypoints, 18);
// PRINTF("All good at TestTest::DummyTestExample !\n");
}
......
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