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Commit 0bac60c8 authored by Sergi Pujol's avatar Sergi Pujol
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matching number threshold added

parent e6ef7245
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1 merge request!4Resolve "Implementation of Falko lib"
......@@ -70,7 +70,7 @@ void CornerFalko2d::findLoopClosure(falkolib::LaserScan scan){
int NewMatchingNumber = match(keypointSets[i], keypointSet2, assoNN);
if (NewMatchingNumber > matchingNumber ) {
if (NewMatchingNumber > matchingNumber && NewMatchingNumber>keypointsNumberTh) {
matchingNumber=NewMatchingNumber;
matchingPosition=i;
}
......
......@@ -72,11 +72,17 @@ public:
**/
void findLoopClosure(falkolib::LaserScan scan);
/** @brief set euclidean distance threshold for keypoints distance measurements*/
void setKeypointsNumberTh(int _th) {
keypointsNumberTh = _th;
}
std::vector<std::vector<falkolib::FALKO>> keypointSets;
std::vector<falkolib::FALKO> lastKeypointSet;
std::vector<std::vector<falkolib::BSC>> descriptorSets;
std::vector<falkolib::BSC>lastDescriptorSet;
int matchingNumber;
int scanNumber=0;
......@@ -84,6 +90,8 @@ public:
int scansExtracted=0;
int matchingPosition=-1;
int keypointsNumberTh=2;
};
} /* namespace laserscanutils */
......
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