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labrobotica
algorithms
laser_scan_utils
Commits
084e3ae5
Commit
084e3ae5
authored
4 years ago
by
Sergi Pujol
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added id to MatchLoopClosure
parent
bf3c8291
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1 merge request
!4
Resolve "Implementation of Falko lib"
Changes
2
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2 changed files
src/loop_closure_falko.h
+6
-6
6 additions, 6 deletions
src/loop_closure_falko.h
src/match_loop_closure.h
+1
-0
1 addition, 0 deletions
src/match_loop_closure.h
with
7 additions
and
6 deletions
src/loop_closure_falko.h
+
6
−
6
View file @
084e3ae5
...
...
@@ -131,11 +131,11 @@ public:
/** \brief Create and update a matchLoopClosure struct with the info that is
*produced when matching two given scenes
**/
matchLoopClosurePtr
matchScene
(
sceneBasePtr
_scene1
,
sceneBasePtr
_scene2
)
override
{
matchLoopClosurePtr
matchScene
(
sceneBasePtr
_scene
_
1
,
sceneBasePtr
_scene
_
2
)
override
{
std
::
vector
<
std
::
pair
<
int
,
int
>>
asso_nn
;
auto
scene_1_falko
=
std
::
static_pointer_cast
<
SceneFalko
<
D
>>
(
_scene1
);
auto
scene_2_falko
=
std
::
static_pointer_cast
<
SceneFalko
<
D
>>
(
_scene2
);
auto
scene_1_falko
=
std
::
static_pointer_cast
<
SceneFalko
<
D
>>
(
_scene
_
1
);
auto
scene_2_falko
=
std
::
static_pointer_cast
<
SceneFalko
<
D
>>
(
_scene
_
2
);
int
matching_number
=
matcher_
.
match
(
scene_1_falko
->
keypoints_list_
,
scene_2_falko
->
keypoints_list_
,
asso_nn
);
...
...
@@ -146,8 +146,8 @@ public:
}
else
{
new_match
->
match
=
false
;
}
new_match
->
scene_1
=
_scene1
;
new_match
->
scene_2
=
_scene2
;
new_match
->
scene_1
=
_scene
_
1
;
new_match
->
scene_2
=
_scene
_
2
;
new_match
->
score
=
(
double
)
matching_number
/
(
double
)
std
::
min
(
scene_1_falko
->
keypoints_list_
.
size
(),
scene_2_falko
->
keypoints_list_
.
size
());
...
...
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src/match_loop_closure.h
+
1
−
0
View file @
084e3ae5
...
...
@@ -27,6 +27,7 @@ struct MatchLoopClosure {
bool
match
;
int
keypoints_number_match
;
double
score
;
double
id
;
};
typedef
std
::
shared_ptr
<
MatchLoopClosure
>
matchLoopClosurePtr
;
...
...
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