From 2910aa3f66283f96abe46bd4898f11899b562cbf Mon Sep 17 00:00:00 2001
From: Sergi Pujol <sergi.pujol.badell@estudiantat.upc.edu>
Date: Sun, 14 Feb 2021 19:37:37 +0100
Subject: [PATCH] added typedef for loopClosurFalko class
---
src/loop_closure_falko.cpp | 16 +++++++++++-----
src/loop_closure_falko.h | 12 ++++++++----
2 files changed, 19 insertions(+), 9 deletions(-)
diff --git a/src/loop_closure_falko.cpp b/src/loop_closure_falko.cpp
index 2008e28..ebf430a 100644
--- a/src/loop_closure_falko.cpp
+++ b/src/loop_closure_falko.cpp
@@ -9,16 +9,22 @@
namespace laserscanutils{
- loopClosureFalko::loopClosureFalko(){}
- loopClosureFalko::~loopClosureFalko(){}
-/*
- std::shared_ptr<cornerScene> loopClosureBase2d::extractScene(LaserScan &scan,LaserScanParams &scanParams){
+ template <typename Extractor, typename Matcher>
+ loopClosureFalko<Extractor, Matcher>::loopClosureFalko(){
+
+ }
+
+ template <typename Extractor, typename Matcher>
+ loopClosureFalko<Extractor, Matcher>::~loopClosureFalko(){}
+
+ template <typename Extractor, typename Matcher>
+ std::shared_ptr<cornerScene> loopClosureFalko<Extractor, Matcher>::extractScene(LaserScan &scan,LaserScanParams &scanParams){
auto NewScene=std::make_shared<cornerScene>();
return NewScene;
}
-*/
+
//void findLoopClosure(std::list<cornerScene>& scenes, const cornerScene newScene){}
diff --git a/src/loop_closure_falko.h b/src/loop_closure_falko.h
index 6053c7b..ea7f16d 100644
--- a/src/loop_closure_falko.h
+++ b/src/loop_closure_falko.h
@@ -34,9 +34,12 @@
namespace laserscanutils
{
+typedef falkolib::BSCExtractor<falkolib::FALKO> bscExtractor;
+typedef falkolib::NNMatcher<falkolib::FALKO> NNMatcher;
- /** \brief A 2base class for loop closure using falko library
-*/
+ /** \brief A base class for loop closure using falko library
+ **/
+template <typename Extractor, typename Matcher>
class loopClosureFalko{
private:
@@ -55,9 +58,10 @@ public:
/** \brief update the scene struct with keypoints and descriptors
**/
- std::shared_ptr<cornerScene> extractScene(LaserScan &scan,LaserScanParams &scanParams){}
-
+ std::shared_ptr<cornerScene> extractScene(LaserScan &scan,LaserScanParams &scanParams);
+ Extractor extractor;
+ Matcher matcher;
};
} /* namespace laserscanutils */
--
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