added id to MatchLoopClosure

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());

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;