From 0c88cc695ed0316f82191ac860813f9e3fb68632 Mon Sep 17 00:00:00 2001
From: Sergi Pujol <sergi.pujol.badell@estudiantat.upc.edu>
Date: Thu, 4 Feb 2021 17:39:17 +0100
Subject: [PATCH] scene candidate evaluation added
---
src/corner_falko_2d.cpp | 40 ++++++++++++++++--------------
src/corner_falko_2d.h | 16 +++++++++---
src/examples/corner_falko_demo.cpp | 2 +-
3 files changed, 35 insertions(+), 23 deletions(-)
diff --git a/src/corner_falko_2d.cpp b/src/corner_falko_2d.cpp
index 5c1193a..c48b928 100644
--- a/src/corner_falko_2d.cpp
+++ b/src/corner_falko_2d.cpp
@@ -29,13 +29,7 @@ CornerFalko2d::~CornerFalko2d()
}
-void CornerFalko2d::storeCorners (LaserScan scan,LaserScanParams scanParams, int scanInterval){
-
- scanNumber=scanNumber+1;
-
- if (scanNumber % scanInterval == 0){
-
- falkolib::LaserScan scanFALKO= convert2LaserScanFALKO(scan, scanParams);
+void CornerFalko2d::AddNewReferenceScene (falkolib::LaserScan scanFALKO){
// Extract keypoints
lastKeypointSet.clear();
@@ -50,8 +44,6 @@ void CornerFalko2d::storeCorners (LaserScan scan,LaserScanParams scanParams, int
scansExtracted=scansExtracted+1;
- }
-
}
void CornerFalko2d::findLoopClosure(LaserScan scan,LaserScanParams scanParams){
@@ -80,15 +72,7 @@ void CornerFalko2d::findLoopClosure(LaserScan scan,LaserScanParams scanParams){
matchingNumber=NewMatchingNumber;
matchingPosition=i;
}
-
-/* for (auto& match : assoNN) {
- if (match.second >= 0) {
- int i1 = match.first;
- int i2 = match.second;
- std::cout << "i1: " << i1 << "\ti2: " << i2 << "\t keypoints distance: " << (keypoints1[i1].distance(keypoints2[i2])) << "\t CHG Distance: " << (cghDesc1[i1].distance(cghDesc2[i2])) << "\t BSC Distance: " << (bscDesc1[i1].distance(bscDesc2[i2])) << endl;
- }
- }
- */ }
+ }
}
@@ -101,6 +85,26 @@ falkolib::LaserScan CornerFalko2d::convert2LaserScanFALKO(LaserScan scan,LaserSc
}
+int CornerFalko2d::evaluateNewReferenceScene(LaserScan scan,LaserScanParams scanParams, int scanInterval){
+
+ scanNumber=scanNumber+1;
+
+ int NewSceneAdded=0;
+
+ if (scanNumber % scanInterval == 0){
+
+ falkolib::LaserScan scanFALKO= convert2LaserScanFALKO(scan, scanParams);
+
+ AddNewReferenceScene(scanFALKO);
+
+ NewSceneAdded=1;
+
+ }
+
+ return NewSceneAdded;
+
+}
+
} // laserscanutils namespace
diff --git a/src/corner_falko_2d.h b/src/corner_falko_2d.h
index 4d707cd..bdab934 100644
--- a/src/corner_falko_2d.h
+++ b/src/corner_falko_2d.h
@@ -48,6 +48,11 @@ namespace laserscanutils
class CornerFalko2d: public falkolib::FALKOExtractor, public falkolib::BSCExtractor<falkolib::FALKO>, public falkolib::NNMatcher<falkolib::FALKO>
{
+private:
+ /** \brief Get and stores a scene to use as trained/Reference set of keypoints.
+ **/
+ void AddNewReferenceScene (falkolib::LaserScan scanFALKO);
+
public:
/**
* @brief Constructor
@@ -65,10 +70,6 @@ public:
**/
~CornerFalko2d();
- /** \brief Gets a set of landmarks/scenes to use as trained set.
- **/
- void storeCorners(LaserScan scan, LaserScanParams scanParams, int scanInterval);
-
/** \brief Extract landmark/scene (list of corners) from a given 2D scan
**/
@@ -85,6 +86,13 @@ public:
**/
falkolib::LaserScan convert2LaserScanFALKO(LaserScan scan,LaserScanParams scanParams);
+ /** \brief Evaluates if New scene is a good candidate to be a Reference Scene. If it is detected as good,
+ * the scene is added and the functions returns 1. If it is not a good candidate, the function returns 0
+ * and the scene is not added.
+ **/
+ int evaluateNewReferenceScene(LaserScan scan,LaserScanParams scanParams, int scanInterval);
+
+
std::vector<std::vector<falkolib::FALKO>> keypointSets;
std::vector<falkolib::FALKO> lastKeypointSet;
std::vector<std::vector<falkolib::BSC>> descriptorSets;
diff --git a/src/examples/corner_falko_demo.cpp b/src/examples/corner_falko_demo.cpp
index 4a969bd..e9af47f 100644
--- a/src/examples/corner_falko_demo.cpp
+++ b/src/examples/corner_falko_demo.cpp
@@ -35,7 +35,7 @@ int main(int argc, char** argv)
CornerFalko2d cornerMatching;
- cornerMatching.storeCorners(scan, laserParams, scanInterval);
+ cornerMatching.evaluateNewReferenceScene(scan, laserParams, scanInterval);
std::cout << "num keypoints1 extracted: " << cornerMatching.lastKeypointSet.size() << std::endl;
--
GitLab