From 416428f0f0f20b98bfd39da87bd5c6491643c0d6 Mon Sep 17 00:00:00 2001 From: Sergi Pujol <sergi.pujol.badell@estudiantat.upc.edu> Date: Mon, 1 Feb 2021 14:05:24 +0100 Subject: [PATCH] corrected public inheritance. Added init params to constructor --- src/corner_falko_2d.cpp | 7 ++++--- src/corner_falko_2d.h | 2 +- 2 files changed, 5 insertions(+), 4 deletions(-) diff --git a/src/corner_falko_2d.cpp b/src/corner_falko_2d.cpp index 8143a7d..661e18f 100644 --- a/src/corner_falko_2d.cpp +++ b/src/corner_falko_2d.cpp @@ -10,8 +10,8 @@ namespace laserscanutils{ CornerFalko2d::CornerFalko2d(int _circularSectorNumber, int _radialRingNumber, bool _useKeypointRadius, double _radius) :BSCExtractor( _circularSectorNumber, _radialRingNumber, _useKeypointRadius ,_radius ) { - // FALKO EXTRACTOR PARAMS - setMinExtractionRange(0.25); + // FALKO Extractor Parameters + setMinExtractionRange(0.1); setMaxExtractionRange(25); enableSubbeam(true); setNMSRadius(0.1); @@ -19,6 +19,8 @@ CornerFalko2d::CornerFalko2d(int _circularSectorNumber, int _radialRingNumber, b setBRatio(4); setGridSectors(16); + // Matcher Extractor Parameters + setDistanceThreshold(0.1); } @@ -63,7 +65,6 @@ void CornerFalko2d::findLoopClosure(falkolib::LaserScan scan){ int cols = sizeof(keypointSets)/(sizeof(int)*rows); for (int i=0; i<rows;i++){ - setDistanceThreshold(0.1); std::vector<std::pair<int, int> > assoNN; matchingNumber = match(keypointSets[i], keypointSet2, assoNN); } diff --git a/src/corner_falko_2d.h b/src/corner_falko_2d.h index 5d90703..5ce667e 100644 --- a/src/corner_falko_2d.h +++ b/src/corner_falko_2d.h @@ -41,7 +41,7 @@ namespace laserscanutils * */ -class CornerFalko2d: public falkolib::FALKOExtractor, falkolib::BSCExtractor<falkolib::FALKO>, falkolib::NNMatcher<falkolib::FALKO> +class CornerFalko2d: public falkolib::FALKOExtractor, public falkolib::BSCExtractor<falkolib::FALKO>, public falkolib::NNMatcher<falkolib::FALKO> { public: /** -- GitLab