findLoopClosure passed to loop_closure_base.h

src/loop_closure_base.h

@@ -51,8 +51,15 @@ public:
     *closures
    **/
   virtual std::map<double,matchLoopClosurePtr>
-  findLoopClosure(sceneBaseListPtr _l_scenes,
-                  const sceneBasePtr _new_scene)=0;
+  findLoopClosure(std::list<std::shared_ptr<SceneBase>> _l_scenes,const sceneBasePtr _new_scene){
+    std::map<double, matchLoopClosurePtr> matchings;
+    for (auto ref_scene : _l_scenes) {
+      auto match = matchScene(ref_scene, _new_scene);
+      matchings.emplace(match->score, match);
+    }
+    return matchings;
+  }
+
 };
 } /* namespace laserscanutils */
 

src/loop_closure_falko.h

@@ -189,6 +189,7 @@ public:
   /** \brief compare new scans against the trained set in order to find loop
     *closures
    **/
+/*
   std::map<double, matchLoopClosurePtr>
   findLoopClosure(sceneBaseListPtr _l_scenes,
                   const sceneBasePtr _new_scene) override {
@@ -203,9 +204,11 @@ public:
     }
     return matchings;
   }
-
+*/
   int keypoints_number_th_;
 };
+
+
 } /* namespace laserscanutils */
 
 #endif /* LOOP_CLOSURE_FALKO_H_ */

src/match_loop_closure.h

@@ -13,10 +13,6 @@
 #include <memory>
 #include <tuple>
 
-/**************************
- *      laser_scan_utils includes     *
- **************************/
-#include "scene_falko.h"
 
 namespace laserscanutils {
 

src/scene_base.h

@@ -18,6 +18,7 @@ struct SceneBase {
 typedef std::shared_ptr<SceneBase> sceneBasePtr;
 
 struct SceneBaseList {
+    std::list<std::shared_ptr<SceneBase>> scenes_;
 };
 typedef std::shared_ptr<SceneBaseList> sceneBaseListPtr;
 

test/gtest_loop_closure_falko.cpp

@@ -42,9 +42,13 @@ TEST(loop_closure_falko, TestLoopClosureFalkoAllFunctions) {
   ASSERT_EQ(new_match->keypoints_number_match, 18);
 
   // TesT findLoopClosure
-  auto ref_scenes = std::make_shared<SceneFalkoList<bsc>>();
-  ref_scenes->scenes_.emplace_back(new_scene);
-  ref_scenes->scenes_.emplace_back(new_scene2);
+  //auto ref_scenes = std::make_shared<SceneFalkoList<bsc>>();
+  //ref_scenes->scenes_.emplace_back(new_scene);
+  //ref_scenes->scenes_.emplace_back(new_scene2);
+
+  std::list<std::shared_ptr<SceneBase>> ref_scenes;
+  ref_scenes.emplace_back(new_scene);
+  ref_scenes.emplace_back(new_scene2);
 
   auto matchings = loop_cl_falko.findLoopClosure(ref_scenes, new_scene);