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Commit 0d816fbd authored by Sergi Pujol's avatar Sergi Pujol
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1 merge request!4Resolve "Implementation of Falko lib"
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src/CMakeLists.txt
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...@@ -67,7 +67,6 @@ SET(HDRS ...@@ -67,7 +67,6 @@ SET(HDRS
IF(falkolib_FOUND) IF(falkolib_FOUND)
SET(HDRS ${HDRS} SET(HDRS ${HDRS}
corner_falko_2d.h
loop_closure_falko.h loop_closure_falko.h
scene_falko.h scene_falko.h
match_loop_closure_scene.h) match_loop_closure_scene.h)
...@@ -96,10 +95,6 @@ SET(SRCS ...@@ -96,10 +95,6 @@ SET(SRCS
icp.cpp) icp.cpp)
ENDIF(csm_FOUND) ENDIF(csm_FOUND)
IF(falkolib_FOUND)
SET(SRCS ${SRCS}
corner_falko_2d.cpp)
ENDIF(falkolib_FOUND)
......
src/corner_falko_2d.cpp deleted 100644 → 0
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/**
* \file corner_falko_2d.cpp
*
* Created on: Jan 26, 2021
* \author: spujol
*/
#include "corner_falko_2d.h"
namespace laserscanutils {
CornerFalko2d::CornerFalko2d(int _circularSectorNumber, int _radialRingNumber,
bool _useKeypointRadius, double _radius)
: BSCExtractor(_circularSectorNumber, _radialRingNumber, _useKeypointRadius,
_radius) {
// FALKO Extractor Parameters
setMinExtractionRange(0.1);
setMaxExtractionRange(25);
enableSubbeam(true);
setNMSRadius(0.1);
setNeighB(0.01);
setBRatio(4);
setGridSectors(16);
// Matcher Extractor Parameters
setDistanceThreshold(0.1);
}
CornerFalko2d::~CornerFalko2d() {}
void CornerFalko2d::AddNewReferenceScene(falkolib::LaserScan scanFALKO) {
// Extract keypoints
lastKeypointSet.clear();
extract(scanFALKO, lastKeypointSet);
// Compute descriptors
lastDescriptorSet.clear();
compute(scanFALKO, lastKeypointSet, lastDescriptorSet);
keypointSets.push_back(lastKeypointSet);
descriptorSets.push_back(lastDescriptorSet);
scansExtracted = scansExtracted + 1;
}
void CornerFalko2d::findLoopClosure(LaserScan scan,
LaserScanParams scanParams) {
falkolib::LaserScan scanFALKO = convert2LaserScanFALKO(scan, scanParams);
// Compute descriptors
std::vector<falkolib::FALKO> keypointSet2;
extract(scanFALKO, keypointSet2);
// Compute descriptors
std::vector<falkolib::BSC> descriptorSet2;
compute(scanFALKO, keypointSet2, descriptorSet2);
// Matching
int rows = keypointSets.size();
numberKeypointsMatch = 0;
numberSceneMatch = 0;
matchingPosition = -1;
for (int i = 0; i < rows; i++) {
std::vector<std::pair<int, int>> assoNN;
int NewMatchingNumber = match(keypointSets[i], keypointSet2, assoNN);
if (NewMatchingNumber > numberKeypointsMatch &&
NewMatchingNumber > keypointsNumberTh) {
numberKeypointsMatch = NewMatchingNumber;
matchingPosition = i;
numberSceneMatch = numberSceneMatch + 1;
}
}
if (numberSceneMatch > 1) {
numberSceneMatch = 0;
matchingPosition = -1;
}
}
falkolib::LaserScan
CornerFalko2d::convert2LaserScanFALKO(LaserScan scan,
LaserScanParams scanParams) {
falkolib::LaserScan scanFALKO(scanParams.angle_min_, scanParams.angle_max_,
scan.ranges_raw_.size());
std::vector<double> doubleRanges(scan.ranges_raw_.begin(),
scan.ranges_raw_.end());
scanFALKO.fromRanges(doubleRanges);
return scanFALKO;
}
int CornerFalko2d::evaluateNewReferenceScene(LaserScan scan,
LaserScanParams scanParams,
int scanInterval) {
scanNumber = scanNumber + 1;
int NewSceneAdded = 0;
if (scanNumber % scanInterval == 0 || scanNumber == 1) {
findLoopClosure(scan, scanParams);
if (numberKeypointsMatch < refSceneAddingTh) {
falkolib::LaserScan scanFALKO = convert2LaserScanFALKO(scan, scanParams);
AddNewReferenceScene(scanFALKO);
NewSceneAdded = 1;
}
}
return NewSceneAdded;
}
} // laserscanutils namespace
src/corner_falko_2d.h deleted 100644 → 0
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/**
* \file corner_falko_2d.h
*
* Created on: Jan 26, 2021
* \author: spujol
*/
#ifndef CORNER_FALKO_2D_H_
#define CORNER_FALKO_2D_H_
#include <fstream>
#include <iostream>
/**************************
* laser_scan_utils includes *
**************************/
#include "laser_scan.h"
/**************************
* WOLF includes *
**************************/
//#include "core/landmark/landmark_base.h"
/**************************
* Falko includes *
**************************/
#include <falkolib/Feature/BSC.h>
#include <falkolib/Feature/CGH.h>
#include <falkolib/Feature/FALKO.h>
#include <falkolib/Feature/FALKOExtractor.h>
#include <falkolib/Feature/BSCExtractor.h>
#include <falkolib/Feature/CGHExtractor.h>
#include <falkolib/Matching/AHTMatcher.h>
#include <falkolib/Matching/NNMatcher.h>
namespace laserscanutils {
/** \brief A 2D corner extractor and loop closure computing class
**/
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
* @param _circularSectorNumber number of grid circular sector (BSCExtractor)
* @param _radialRingNumber number of grid radial number (BSCExtractor)
* @param _useKeypointRadius if true, the selected neighborhood points search
* radius is keypoint one (BSCExtractor)
* @param _radius neighborhood points search radius (BSCExtractor)
*/
CornerFalko2d(int _circularSectorNumber = 16, int _radialRingNumber = 8,
bool _useKeypointRadius = true, double _radius = 0.1);
/** \brief Destructor
**/
~CornerFalko2d();
/** \brief compare new scans against the training set in order to find loop
*closures
**/
void findLoopClosure(LaserScan scan, LaserScanParams scanParams);
/** @brief set a threshold for the minimum number of matched keypoints to
* consider a matching correct*/
void setKeypointsNumberTh(int _th) { keypointsNumberTh = _th; }
/** \brief Convert scans from laserscanutils::LaserScan to falkolib::LaserScan
*object
**/
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;
std::vector<falkolib::BSC> lastDescriptorSet;
// Number of Scene matched when performing the loop closure
int numberKeypointsMatch = 0;
// Number of keypoints that are matched between 2 scenes when performing the
// loop closure
int numberSceneMatch = 0;
int scanNumber = 0;
int scansExtracted = 0;
int matchingPosition = -1;
int keypointsNumberTh = 2;
// Max number of matched keypoints between 2 scenes for the candidate scene be
// considered a good New reference scene
int refSceneAddingTh = 4;
};
} /* namespace laserscanutils */
#endif /* LANDMARK_POLYLINE_2d_H_ */
src/examples/CMakeLists.txt
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...@@ -3,7 +3,3 @@ INCLUDE_DIRECTORIES(../src) ...@@ -3,7 +3,3 @@ INCLUDE_DIRECTORIES(../src)
# polylines demo # polylines demo
ADD_EXECUTABLE(demo_polylines polyline_demo.cpp) ADD_EXECUTABLE(demo_polylines polyline_demo.cpp)
TARGET_LINK_LIBRARIES(demo_polylines ${PROJECT_NAME}) TARGET_LINK_LIBRARIES(demo_polylines ${PROJECT_NAME})
# falkocorners demo
ADD_EXECUTABLE(demo_corner_falko corner_falko_demo.cpp testData.cpp)
TARGET_LINK_LIBRARIES(demo_corner_falko ${PROJECT_NAME})
src/examples/corner_falko_demo.cpp deleted 100644 → 0
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/**
* \file corner_falko_2d_test.cpp
*
* Created on: Jan 26, 2021
* \author: spujol
*/
//LaserScanUtils includes
#include "../line_finder_iterative.h"
#include "../corner_falko_2d.h"
#include "../laser_scan.h"
#include "testData.h"
//std includes
#include <ctime>
#include <iostream>
using namespace laserscanutils;
int main(int argc, char** argv)
{
int scanSize = 1440;
int scanInterval =1;
LaserScan scan;
LaserScanParams laserParams;
laserParams.angle_min_=0;
laserParams.angle_max_=2.0 * M_PI;
for (int i=0; i<scanSize; i++) {
scan.ranges_raw_.push_back(testRanges1[i]);
}
CornerFalko2d cornerMatching;
int sceneAdded = cornerMatching.evaluateNewReferenceScene(scan, laserParams, scanInterval);
std::cout << "num keypoints1 extracted: " << cornerMatching.lastKeypointSet.size() << std::endl;
if (sceneAdded==1){
std::cout << "NewRefSceneAdded!!! " << std::endl;
}
cornerMatching.findLoopClosure(scan, laserParams);
std::cout << "matching number : " << cornerMatching.numberKeypointsMatch << std::endl;
}
src/examples/testData.cpp deleted 100644 → 0
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/**
* FALKOLib - Fast Adaptive Laser Keypoint Orientation-invariant
* Copyright (C) 2016 Fabjan Kallasi and Dario Lodi Rizzini.
*
* This file is part of FALKOLib.
*
* FALKOLib is free software: you can redistribute it and/or modify
* it under the terms of the GNU Lesser General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* FALKOLib is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU Lesser General Public License for more details.
*
* You should have received a copy of the GNU Lesser General Public License
* along with FALKOLib. If not, see <http://www.gnu.org/licenses/>.
*/
double testRanges1[]= {250, 250, 250, 250, 250, 17.263999938964844, 17.263999938964844, 17.263999938964844, 17.263999938964844, 13.552000045776367, 13.552000045776367, 13.552000045776367, 12.95199966430664, 12.95199966430664, 12.95199966430664, 12.95199966430664, 12.51200008392334, 11.567999839782715, 11.567999839782715, 10.720000267028809, 10.720000267028809, 10.720000267028809, 10.359999656677246, 10.336000442504883, 10.343999862670898, 10.35200023651123, 10.35200023651123, 10.32800006866455, 10.319999694824219, 10.383999824523926, 10.407999992370605, 10.432000160217285, 10.432000160217285, 10.447999954223633, 10.46399974822998, 10.46399974822998, 10.503999710083008, 10.503999710083008, 10.527999877929688, 10.592000007629395, 10.62399959564209, 8.368000030517578, 8.343999862670898, 8.343999862670898, 8.031999588012695, 7.831999778747559, 7.6479997634887695, 7.552000045776367, 7.415999889373779, 7.415999889373779, 7.263999938964844, 7.144000053405762, 7.0320000648498535, 6.920000076293945, 6.776000022888184, 6.776000022888184, 6.671999931335449, 6.576000213623047, 6.440000057220459, 6.328000068664551, 6.271999835968018, 6.271999835968018, 6.263999938964844, 6.271999835968018, 6.296000003814697, 6.320000171661377, 6.328000068664551, 6.328000068664551, 6.335999965667725, 6.320000171661377, 3.187999963760376, 3.187999963760376, 4.495999813079834, 4.495999813079834, 4.495999813079834, 4.495999813079834, 4.504000186920166, 4.504000186920166, 4.504000186920166, 4.544000148773193, 4.544000148773193, 4.544000148773193, 4.544000148773193, 4.51200008392334, 4.51200008392334, 4.51200008392334, 4.51200008392334, 4.599999904632568, 4.576000213623047, 4.495999813079834, 4.455999851226807, 4.455999851226807, 4.455999851226807, 4.455999851226807, 4.4079999923706055, 4.368000030517578, 4.320000171661377, 4.271999835968018, 4.271999835968018, 4.223999977111816, 4.184000015258789, 4.168000221252441, 4.159999847412109, 4.168000221252441, 4.176000118255615, 4.176000118255615, 4.184000015258789, 4.199999809265137, 4.199999809265137, 4.208000183105469, 4.216000080108643, 4.216000080108643, 4.223999977111816, 4.23199987411499, 4.23199987411499, 4.176000118255615, 250, 250, 4.111999988555908, 4.111999988555908, 4.111999988555908, 4.111999988555908, 4.099999904632568, 4.099999904632568, 4.099999904632568, 4.079999923706055, 4.0320000648498535, 3.98799991607666, 3.9719998836517334, 3.9719998836517334, 3.9560000896453857, 3.9240000247955322, 3.888000011444092, 3.859999895095825, 3.8320000171661377, 3.8320000171661377, 3.803999900817871, 3.7880001068115234, 3.259999990463257, 3.240000009536743, 3.2200000286102295, 3.2200000286102295, 3.200000047683716, 3.1760001182556152, 3.1559998989105225, 3.1440000534057617, 3.128000020980835, 3.128000020980835, 3.119999885559082, 2.5959999561309814, 2.5959999561309814, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 2.4839999675750732, 2.4839999675750732, 2.4839999675750732, 2.4839999675750732, 2.496000051498413, 2.5320000648498535, 250, 2.624000072479248, 2.624000072479248, 2.624000072479248, 2.624000072479248, 250, 250, 250, 250, 250, 250, 250, 2.6679999828338623, 2.6679999828338623, 2.6679999828338623, 2.6679999828338623, 2.640000104904175, 2.640000104904175, 2.640000104904175, 2.628000020980835, 2.615999937057495, 2.615999937057495, 2.6080000400543213, 2.5959999561309814, 2.5880000591278076, 2.5759999752044678, 2.563999891281128, 2.563999891281128, 2.555999994277954, 2.5439999103546143, 2.5320000648498535, 2.5199999809265137, 2.51200008392334, 2.51200008392334, 2.503999948501587, 2.492000102996826, 2.4839999675750732, 2.4719998836517334, 2.4639999866485596, 2.4639999866485596, 2.4600000381469727, 2.4519999027252197, 2.440000057220459, 2.431999921798706, 2.4200000762939453, 2.4200000762939453, 2.4159998893737793, 2.4079999923706055, 2.4079999923706055, 2.427999973297119, 2.444000005722046, 2.444000005722046, 2.4600000381469727, 2.4719998836517334, 2.48799991607666, 2.5, 2.5160000324249268, 2.5160000324249268, 2.5280001163482666, 2.5399999618530273, 2.559999942779541, 2.5799999237060547, 2.5840001106262207, 2.5840001106262207, 3.0480000972747803, 3.0480000972747803, 2.631999969482422, 2.631999969482422, 2.631999969482422, 2.624000072479248, 2.624000072479248, 2.624000072479248, 2.624000072479248, 2.615999937057495, 2.611999988555908, 2.6040000915527344, 2.6040000915527344, 2.5959999561309814, 2.5920000076293945, 2.5840001106262207, 2.5759999752044678, 2.572000026702881, 2.572000026702881, 2.563999891281128, 2.555999994277954, 2.5480000972747803, 2.5439999103546143, 2.5399999618530273, 2.5399999618530273, 2.5360000133514404, 2.5320000648498535, 2.5239999294281006, 2.5199999809265137, 2.507999897003174, 2.507999897003174, 2.503999948501587, 2.5, 2.496000051498413, 2.492000102996826, 2.48799991607666, 2.48799991607666, 2.4800000190734863, 2.4760000705718994, 2.4719998836517334, 2.4679999351501465, 2.4639999866485596, 2.4560000896453857, 2.4560000896453857, 2.4519999027252197, 2.447999954223633, 2.447999954223633, 2.444000005722046, 2.436000108718872, 2.436000108718872, 2.431999921798706, 2.427999973297119, 2.4240000247955322, 2.4240000247955322, 2.4200000762939453, 2.4200000762939453, 2.4159998893737793, 2.4079999923706055, 2.4040000438690186, 2.4040000438690186, 2.4000000953674316, 2.4000000953674316, 2.3959999084472656, 2.3919999599456787, 2.3919999599456787, 2.388000011444092, 2.384000062942505, 2.384000062942505, 2.380000114440918, 2.375999927520752, 2.371999979019165, 2.371999979019165, 2.368000030517578, 2.364000082015991, 2.364000082015991, 2.364000082015991, 2.364000082015991, 2.359999895095825, 2.3559999465942383, 2.3559999465942383, 2.3559999465942383, 2.6600000858306885, 2.6600000858306885, 2.6600000858306885, 2.003999948501587, 2.003999948501587, 2.003999948501587, 2.003999948501587, 2.003999948501587, 2.003999948501587, 2.003999948501587, 2.0, 2.0, 2.0, 2.0, 1.9980000257492065, 1.9980000257492065, 1.9980000257492065, 1.9980000257492065, 1.996000051498413, 1.996000051498413, 1.996000051498413, 1.99399995803833, 1.9919999837875366, 1.996000051498413, 1.996000051498413, 1.996000051498413, 1.996000051498413, 1.996000051498413, 1.99399995803833, 2.0, 2.0, 2.009999990463257, 2.0220000743865967, 2.0460000038146973, 2.0460000038146973, 2.0260000228881836, 2.0260000228881836, 2.00600004196167, 1.996000051498413, 1.99399995803833, 1.9900000095367432, 1.9919999837875366, 1.9919999837875366, 1.996000051498413, 1.9980000257492065, 1.99399995803833, 1.9919999837875366, 1.9919999837875366, 1.9919999837875366, 1.99399995803833, 1.99399995803833, 1.996000051498413, 1.9980000257492065, 1.9980000257492065, 1.9980000257492065, 1.9980000257492065, 2.0, 2.0, 1.9980000257492065, 1.9980000257492065, 1.9919999837875366, 1.9520000219345093, 2.0320000648498535, 2.0999999046325684, 2.1040000915527344, 2.1040000915527344, 2.0280001163482666, 1.9040000438690186, 1.9279999732971191, 1.9520000219345093, 1.9559999704360962, 1.9559999704360962, 1.9600000381469727, 1.9579999446868896, 1.9600000381469727, 1.9620000123977661, 1.9639999866485596, 1.9639999866485596, 1.965999960899353, 1.965999960899353, 1.968000054359436, 1.972000002861023, 1.9759999513626099, 1.9759999513626099, 1.9759999513626099, 1.9759999513626099, 1.9800000190734863, 1.9839999675750732, 1.9800000190734863, 1.9800000190734863, 1.9819999933242798, 1.9880000352859497, 1.996000051498413, 2.009999990463257, 2.00600004196167, 2.00600004196167, 1.99399995803833, 2.687999963760376, 2.687999963760376, 2.687999963760376, 1.74399995803833, 1.74399995803833, 2.063999891281128, 2.115999937057495, 2.196000099182129, 2.191999912261963, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 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/**
* FALKOLib - Fast Adaptive Laser Keypoint Orientation-invariant
* Copyright (C) 2016 Fabjan Kallasi and Dario Lodi Rizzini.
*
* This file is part of FALKOLib.
*
* FALKOLib is free software: you can redistribute it and/or modify
* it under the terms of the GNU Lesser General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* FALKOLib is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU Lesser General Public License for more details.
*
* You should have received a copy of the GNU Lesser General Public License
* along with FALKOLib. If not, see <http://www.gnu.org/licenses/>.
*/
#pragma once
extern double testRanges1[];
extern double testRanges2[];
extern double testRangesOrtho1[];
extern double testRangesOrtho2[];
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