From 1f0390d9ad3d32978130ef214181f5544accd9ac Mon Sep 17 00:00:00 2001
From: Sergi Pujol <sergi.pujol.badell@estudiantat.upc.edu>
Date: Tue, 9 Feb 2021 15:31:42 +0100
Subject: [PATCH] added shared ptr for scene extraction
---
src/loop_closure_base_2d.cpp | 4 ++--
src/loop_closure_base_2d.h | 10 +++-------
2 files changed, 5 insertions(+), 9 deletions(-)
diff --git a/src/loop_closure_base_2d.cpp b/src/loop_closure_base_2d.cpp
index 1693e91..6642d75 100644
--- a/src/loop_closure_base_2d.cpp
+++ b/src/loop_closure_base_2d.cpp
@@ -9,8 +9,8 @@
namespace laserscanutils{
- cornerScene extractScene(LaserScan scan,LaserScanParams scanParams){
- cornerScene NewScene;
+ std::shared_ptr<cornerScene> loopClosureBase2d::extractScene(LaserScan &scan,LaserScanParams &scanParams){
+ std::shared_ptr<cornerScene> NewScene;
return NewScene;
}
}
\ No newline at end of file
diff --git a/src/loop_closure_base_2d.h b/src/loop_closure_base_2d.h
index 73edd7d..8433d88 100644
--- a/src/loop_closure_base_2d.h
+++ b/src/loop_closure_base_2d.h
@@ -10,6 +10,7 @@
#include <iostream>
#include <fstream>
+#include <memory>
/**************************
* laser_scan_utils includes *
@@ -19,11 +20,6 @@
namespace laserscanutils
{
- /*
-struct cornerScene{
- std::vector<double> keypointsList;
- std::vector<double> descriptorsList;
-};*/
/** \brief A 2base class for loop closure using falko library
*/
@@ -41,11 +37,11 @@ public:
/** \brief compare new scans against the trained set in order to find loop closures
**/
- virtual void findLoopClosure();
+ virtual void findLoopClosure(std::list<cornerScene>& scenes, const cornerScene newScene);
/** \brief update the scene struct with keypoints and descriptors
**/
- virtual cornerScene extractScene(LaserScan scan,LaserScanParams scanParams);
+ virtual std::shared_ptr<cornerScene> extractScene(LaserScan &scan,LaserScanParams &scanParams);
};
} /* namespace laserscanutils */
--
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