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Commit 20a993d6 authored by Sergi Pujol Badell's avatar Sergi Pujol Badell
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renaming to MatchLoopClosureScene

parent 71c3fef2
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1 merge request!4Resolve "Implementation of Falko lib"
......@@ -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
......
......@@ -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 matchLoopClosurePtr matchScene(sceneBasePtr _scene1,
virtual MatchLoopClosureScenePtr matchScene(sceneBasePtr _scene1,
sceneBasePtr _scene2) = 0;
/** \brief compare new scans against the trained set in order to find loop
*closures
**/
virtual std::map<double, matchLoopClosurePtr>
virtual std::map<double, MatchLoopClosureScenePtr>
findLoopClosure(std::list<std::shared_ptr<SceneBase>> _l_scenes,
const sceneBasePtr _new_scene) {
std::map<double, matchLoopClosurePtr> matchings;
std::map<double, MatchLoopClosureScenePtr> matchings;
for (auto ref_scene : _l_scenes) {
auto match = matchScene(ref_scene, _new_scene);
matchings.emplace(match->score, match);
......
......@@ -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
**/
matchLoopClosurePtr matchScene(sceneBasePtr _scene_1,
MatchLoopClosureScenePtr 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<MatchLoopClosureScene>();
new_match->keypoints_number_match = matching_number;
if (matching_number > keypoints_number_th_) {
new_match->match = computeTransform(scene_1_falko->keypoints_list_,
......
......@@ -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 MatchLoopClosureScene {
sceneBasePtr scene_1; //ref_scene
sceneBasePtr scene_2; //new_scene
......@@ -27,8 +27,8 @@ struct MatchLoopClosure {
Eigen::Affine2d transform;
};
typedef std::shared_ptr<MatchLoopClosure> matchLoopClosurePtr;
typedef std::shared_ptr<MatchLoopClosureScene> MatchLoopClosureScenePtr;
} /* namespace laserscanutils */
#endif /* MATCH_LOOP_CLOSURE_H_ */
#endif /* MATCH_LOOP_CLOSURE_SCENE_H_ */
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