From 49ced181a0d39af914b9cff178febfed52bc625a Mon Sep 17 00:00:00 2001
From: Sergi Pujol <sergi.pujol.badell@estudiantat.upc.edu>
Date: Mon, 22 Feb 2021 10:56:36 +0100
Subject: [PATCH] code guidelines
---
src/loop_closure_falko.h | 58 ++++++++++++++++++++--------------------
1 file changed, 29 insertions(+), 29 deletions(-)
diff --git a/src/loop_closure_falko.h b/src/loop_closure_falko.h
index 6089b8a..7102075 100644
--- a/src/loop_closure_falko.h
+++ b/src/loop_closure_falko.h
@@ -47,22 +47,22 @@ typedef falkolib::CGHExtractor<falkolib::FALKO> cghExtractor;
typedef falkolib::AHTMatcher<falkolib::FALKO> AHTatcher;
struct parameterLoopClosureFalko {
- // Keypoints extractor
- double _min_extraction_range=0.1;
- double _max_extraction_range=25;
- bool _enable_subbeam=true;
- double _nms_radius=0.1;
- double _neigh_b=0.01;
- double _b_ratio=4;
- int _grid_sectors=16;
-
- //Descriptors parameters
- int _circularSectorNumber = 16;
- int _radialRingNumber = 8;
-
- //matcher threshold
- double matcher_distance_th=0.1;
- int keypoints_number_th = 5;
+ // Keypoints extractor Default
+ double min_extraction_range_=0.1;
+ double max_extraction_range_=25;
+ bool enable_subbeam_=true;
+ double nms_radius_=0.1;
+ double neigh_b_=0.01;
+ double b_ratio_=4;
+ int grid_sectors_=16;
+
+ //Descriptors parameters Default
+ int circularSectorNumber_ = 16;
+ int radialRingNumber_ = 8;
+
+ //matcher threshold Default
+ double matcher_distance_th_=0.1;
+ int keypoints_number_th_ = 5;
};
/** \brief A base class for loop closure using falko library
@@ -82,21 +82,21 @@ public:
/** \brief Constructor
**/
- loopClosureFalko(parameterLoopClosureFalko param)
+ loopClosureFalko(parameterLoopClosureFalko _param)
: loopClosureBase2d(), falkolib::FALKOExtractor(),
- extractor_(param._circularSectorNumber, param._radialRingNumber), matcher_() {
+ extractor_(_param.circularSectorNumber_, _param.radialRingNumber_), matcher_() {
// FALKO Extractor Parameters
- setMinExtractionRange(param._min_extraction_range);
- setMaxExtractionRange(param._max_extraction_range);
- enableSubbeam(param._enable_subbeam);
- setNMSRadius(param._nms_radius);
- setNeighB(param._neigh_b);
- setBRatio(param._b_ratio);
- setGridSectors(param._grid_sectors);
+ setMinExtractionRange(_param.min_extraction_range_);
+ setMaxExtractionRange(_param.max_extraction_range_);
+ enableSubbeam(_param.enable_subbeam_);
+ setNMSRadius(_param.nms_radius_);
+ setNeighB(_param.neigh_b_);
+ setBRatio(_param.b_ratio_);
+ setGridSectors(_param.grid_sectors_);
// Matcher Extractor Parameters
- matcher_.setDistanceThreshold(param.matcher_distance_th);
- keypoints_number_th = param.keypoints_number_th;
+ matcher_.setDistanceThreshold(_param.matcher_distance_th_);
+ keypoints_number_th_ = _param.keypoints_number_th_;
};
/** \brief Destructor
@@ -139,7 +139,7 @@ public:
matcher_.match(_scene1->keypointsList, _scene2->keypointsList, asso_nn);
auto new_match = std::make_shared<matchLoopClosure<D>>();
new_match->keypointsNumberMatch = matching_number;
- if (matching_number > keypoints_number_th) {
+ if (matching_number > keypoints_number_th_) {
new_match->match = true;
} else {
new_match->match = false;
@@ -165,7 +165,7 @@ public:
return matchings;
}
- int keypoints_number_th;
+ int keypoints_number_th_;
};
} /* namespace laserscanutils */
--
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