From 084e3ae5ef86326e5f2cc0579098232bd712c338 Mon Sep 17 00:00:00 2001 From: Sergi Pujol <sergi.pujol.badell@estudiantat.upc.edu> Date: Fri, 26 Feb 2021 11:44:55 +0100 Subject: [PATCH] added id to MatchLoopClosure --- src/loop_closure_falko.h | 12 ++++++------ src/match_loop_closure.h | 1 + 2 files changed, 7 insertions(+), 6 deletions(-) diff --git a/src/loop_closure_falko.h b/src/loop_closure_falko.h index e9def7e..ccca82a 100644 --- a/src/loop_closure_falko.h +++ b/src/loop_closure_falko.h @@ -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()); diff --git a/src/match_loop_closure.h b/src/match_loop_closure.h index b51d850..ab359c4 100644 --- a/src/match_loop_closure.h +++ b/src/match_loop_closure.h @@ -27,6 +27,7 @@ struct MatchLoopClosure { bool match; int keypoints_number_match; double score; + double id; }; typedef std::shared_ptr<MatchLoopClosure> matchLoopClosurePtr; -- GitLab