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Commit 24049139 authored by Sergi Pujol's avatar Sergi Pujol
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doxygen comments added

parent 4fbc6472
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1 merge request!4Resolve "Implementation of Falko lib"
......@@ -45,6 +45,8 @@ typedef falkolib::CGHExtractor<falkolib::FALKO> cghExtractor;
template <typename T, typename D> using nn_matcher = falkolib::NNMatcher<T, D>;
template <typename T, typename D> using aht_matcher = falkolib::AHTMatcher<T, D>;
/** \brief Struct class that store falkolib parameters
**/
struct ParameterLoopClosureFalko
{
// Keypoints extractor Default
......@@ -79,6 +81,12 @@ struct ParameterLoopClosureFalko
};
/** \brief A base class for loop closure using falko library
* The class is a wrapper of the falkolib that is designed to be used for loop closures in the wolf problem
* Diferent types of descriptors can be used, and are specified as template parameters.
* \tparam D Descriptor type. <bsc> or <cgh>
* \tparam Extr descriptor extractor type <bscExtractor> or <cghExtractor>
* \tparam M Matcher type <nn_matcher> or <aht_matcher>
* \param _param parameter struct with falko lib parameters
**/
template <typename D, typename Extr, template <typename, typename> typename M>
......@@ -91,9 +99,9 @@ class LoopClosureFalko : public LoopClosureBase2d, public falkolib::FALKOExtract
Extr extractor_;
M<falkolib::FALKO, D> matcher_;
// M<D, D> matcher_desc_;
/** \brief Constructor for nn_matcher
/** \brief Constructor
* \param _param parameter struct with falko lib parameters
**/
LoopClosureFalko(ParameterLoopClosureFalko _param)
: LoopClosureBase2d()
......@@ -146,8 +154,9 @@ class LoopClosureFalko : public LoopClosureBase2d, public falkolib::FALKOExtract
return scan_falko;
}
/** \brief Create and update a matchLoopClosure struct with the info that is
*produced when matching two given scenes
/** \brief Create and update a matchLoopClosure struct with the info that is produced when matching two given scenes
* \param _scene_1 reference scene struct
* \param _scene_2 target scene struct
**/
MatchLoopClosureScenePtr matchScene(sceneBasePtr _scene_1, sceneBasePtr _scene_2) override
{
......
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