From 0bac60c89f2113a0d342489cb79d8c725c50de72 Mon Sep 17 00:00:00 2001
From: Sergi Pujol <sergi.pujol.badell@estudiantat.upc.edu>
Date: Mon, 1 Feb 2021 17:54:45 +0100
Subject: [PATCH] matching number threshold added
---
src/corner_falko_2d.cpp | 2 +-
src/corner_falko_2d.h | 8 ++++++++
2 files changed, 9 insertions(+), 1 deletion(-)
diff --git a/src/corner_falko_2d.cpp b/src/corner_falko_2d.cpp
index 09bf36f..ba3c7f9 100644
--- a/src/corner_falko_2d.cpp
+++ b/src/corner_falko_2d.cpp
@@ -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;
}
diff --git a/src/corner_falko_2d.h b/src/corner_falko_2d.h
index 8bc7639..0e355c1 100644
--- a/src/corner_falko_2d.h
+++ b/src/corner_falko_2d.h
@@ -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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