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labrobotica
algorithms
laser_scan_utils
Commits
20a993d6
Commit
20a993d6
authored
4 years ago
by
Sergi Pujol Badell
Browse files
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renaming to MatchLoopClosureScene
parent
71c3fef2
No related branches found
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1 merge request
!4
Resolve "Implementation of Falko lib"
Changes
4
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4 changed files
src/CMakeLists.txt
+1
-1
1 addition, 1 deletion
src/CMakeLists.txt
src/loop_closure_base.h
+4
-4
4 additions, 4 deletions
src/loop_closure_base.h
src/loop_closure_falko.h
+3
-3
3 additions, 3 deletions
src/loop_closure_falko.h
src/match_loop_closure_scene.h
+5
-5
5 additions, 5 deletions
src/match_loop_closure_scene.h
with
13 additions
and
13 deletions
src/CMakeLists.txt
+
1
−
1
View file @
20a993d6
...
...
@@ -70,7 +70,7 @@ SET(HDRS
corner_falko_2d.h
loop_closure_falko.h
scene_falko.h
match_loop_closure.h
)
match_loop_closure
_scene
.h
)
ENDIF
(
falkolib_FOUND
)
#sources
...
...
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Click to expand it.
src/loop_closure_base.h
+
4
−
4
View file @
20a993d6
...
...
@@ -16,7 +16,7 @@
* laser_scan_utils includes *
**************************/
#include
"laser_scan.h"
#include
"match_loop_closure.h"
#include
"match_loop_closure
_scene
.h"
#include
"scene_base.h"
namespace
laserscanutils
{
...
...
@@ -42,16 +42,16 @@ public:
/** \brief Create and update a matchLoopClosure struct with the info that is
*produced when matching two given scenes
**/
virtual
m
atchLoopClosurePtr
matchScene
(
sceneBasePtr
_scene1
,
virtual
M
atchLoopClosure
Scene
Ptr
matchScene
(
sceneBasePtr
_scene1
,
sceneBasePtr
_scene2
)
=
0
;
/** \brief compare new scans against the trained set in order to find loop
*closures
**/
virtual
std
::
map
<
double
,
m
atchLoopClosurePtr
>
virtual
std
::
map
<
double
,
M
atchLoopClosure
Scene
Ptr
>
findLoopClosure
(
std
::
list
<
std
::
shared_ptr
<
SceneBase
>>
_l_scenes
,
const
sceneBasePtr
_new_scene
)
{
std
::
map
<
double
,
m
atchLoopClosurePtr
>
matchings
;
std
::
map
<
double
,
M
atchLoopClosure
Scene
Ptr
>
matchings
;
for
(
auto
ref_scene
:
_l_scenes
)
{
auto
match
=
matchScene
(
ref_scene
,
_new_scene
);
matchings
.
emplace
(
match
->
score
,
match
);
...
...
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src/loop_closure_falko.h
+
3
−
3
View file @
20a993d6
...
...
@@ -20,7 +20,7 @@
**************************/
#include
"laser_scan.h"
#include
"loop_closure_base.h"
#include
"match_loop_closure.h"
#include
"match_loop_closure
_scene
.h"
#include
"scene_falko.h"
/**************************
...
...
@@ -149,7 +149,7 @@ public:
/** \brief Create and update a matchLoopClosure struct with the info that is
*produced when matching two given scenes
**/
m
atchLoopClosurePtr
matchScene
(
sceneBasePtr
_scene_1
,
M
atchLoopClosure
Scene
Ptr
matchScene
(
sceneBasePtr
_scene_1
,
sceneBasePtr
_scene_2
)
override
{
std
::
vector
<
std
::
pair
<
int
,
int
>>
asso_nn
;
...
...
@@ -167,7 +167,7 @@ public:
scene_2_falko
->
keypoints_list_
,
scene_2_falko
->
descriptors_list_
,
asso_nn
);
}
auto
new_match
=
std
::
make_shared
<
MatchLoopClosure
>
();
auto
new_match
=
std
::
make_shared
<
MatchLoopClosure
Scene
>
();
new_match
->
keypoints_number_match
=
matching_number
;
if
(
matching_number
>
keypoints_number_th_
)
{
new_match
->
match
=
computeTransform
(
scene_1_falko
->
keypoints_list_
,
...
...
This diff is collapsed.
Click to expand it.
src/match_loop_closure.h
→
src/match_loop_closure
_scene
.h
+
5
−
5
View file @
20a993d6
...
...
@@ -5,8 +5,8 @@
* \author: spujol
*/
#ifndef MATCH_LOOP_CLOSURE_H_
#define MATCH_LOOP_CLOSURE_H_
#ifndef MATCH_LOOP_CLOSURE_
SCENE_
H_
#define MATCH_LOOP_CLOSURE_
SCENE_
H_
#include
<fstream>
#include
<iostream>
...
...
@@ -17,7 +17,7 @@
namespace
laserscanutils
{
struct
MatchLoopClosure
{
struct
MatchLoopClosure
Scene
{
sceneBasePtr
scene_1
;
//ref_scene
sceneBasePtr
scene_2
;
//new_scene
...
...
@@ -27,8 +27,8 @@ struct MatchLoopClosure {
Eigen
::
Affine2d
transform
;
};
typedef
std
::
shared_ptr
<
MatchLoopClosure
>
m
atchLoopClosurePtr
;
typedef
std
::
shared_ptr
<
MatchLoopClosure
Scene
>
M
atchLoopClosure
Scene
Ptr
;
}
/* namespace laserscanutils */
#endif
/* MATCH_LOOP_CLOSURE_H_ */
#endif
/* MATCH_LOOP_CLOSURE_
SCENE_
H_ */
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