From 5c065da68d4914c0306403ce117b5231940e541f Mon Sep 17 00:00:00 2001 From: Sergi Pujol <sergi.pujol.badell@estudiantat.upc.edu> Date: Mon, 15 Feb 2021 12:27:42 +0100 Subject: [PATCH] corner_scene.h deleted and substituted by scene_falko and scene_base --- src/CMakeLists.txt | 1 - src/corner_scene.h | 44 -------------------------------------- src/loop_closure_base_2d.h | 1 - src/loop_closure_falko.cpp | 6 +++--- src/loop_closure_falko.h | 5 ++--- src/scene_falko.h | 2 +- 6 files changed, 6 insertions(+), 53 deletions(-) delete mode 100644 src/corner_scene.h diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt index aef6c39..6a432f5 100644 --- a/src/CMakeLists.txt +++ b/src/CMakeLists.txt @@ -69,7 +69,6 @@ SET(HDRS SET(HDRS ${HDRS} corner_falko_2d.h loop_closure_falko.h - corner_scene.h scene_falko.h) ENDIF(falkolib_FOUND) diff --git a/src/corner_scene.h b/src/corner_scene.h deleted file mode 100644 index fb1932c..0000000 --- a/src/corner_scene.h +++ /dev/null @@ -1,44 +0,0 @@ -/** - * \file corner_scene.h - * - * Created on: Feb 9, 2021 - * \author: spujol - */ - -#ifndef CORNER_SCENE_H_ -#define CORNER_SCENE_H_ - -#include <iostream> -#include <fstream> - -/************************** - * Falko includes * - **************************/ -#include <falkolib/Feature/FALKO.h> -#include <falkolib/Feature/CGH.h> -#include <falkolib/Feature/BSC.h> -#include <falkolib/Feature/FALKOExtractor.h> - -#include <falkolib/Feature/BSCExtractor.h> -#include <falkolib/Feature/CGHExtractor.h> - -#include <falkolib/Matching/NNMatcher.h> -#include <falkolib/Matching/AHTMatcher.h> - -namespace laserscanutils -{ - - - -template <typename D> -struct cornerScene{ - std::vector<falkolib::FALKO> keypointsList; - std::vector<D> descriptorsList; -}; - -typedef std::shared_ptr<cornerScene<falkolib::BSC>> cornerSceneBSCPtr; - - -} /* namespace laserscanutils */ - -#endif /* CORNER_SCENE_H_ */ diff --git a/src/loop_closure_base_2d.h b/src/loop_closure_base_2d.h index d3d9b36..a634af4 100644 --- a/src/loop_closure_base_2d.h +++ b/src/loop_closure_base_2d.h @@ -16,7 +16,6 @@ * laser_scan_utils includes * **************************/ #include "laser_scan.h" -#include "corner_scene.h" #include "scene_base.h" /************************** diff --git a/src/loop_closure_falko.cpp b/src/loop_closure_falko.cpp index 5e36326..dadc9a1 100644 --- a/src/loop_closure_falko.cpp +++ b/src/loop_closure_falko.cpp @@ -37,8 +37,8 @@ namespace laserscanutils{ loopClosureFalko<D,Extr,M>::~loopClosureFalko(){} template <typename D,typename Extr, typename M> - std::shared_ptr<cornerScene<D>> loopClosureFalko<D,Extr, M>::extractScene(LaserScan &scan,LaserScanParams &scanParams){ - auto newScene=std::make_shared<cornerScene<D>>(); + std::shared_ptr<sceneFalko<D>> loopClosureFalko<D,Extr, M>::extractScene(LaserScan &scan,LaserScanParams &scanParams){ + auto newScene=std::make_shared<sceneFalko<D>>(); auto scanFALKO =loopClosureFalko<D,Extr,M>::convert2LaserScanFALKO(scan, scanParams); // Extract keypoints extract((*scanFALKO), (newScene->keypointsList)); @@ -49,7 +49,7 @@ namespace laserscanutils{ } - //void findLoopClosure(std::list<cornerScene>& scenes, const cornerScene newScene){} + //void findLoopClosure(std::list<sceneFalko>& scenes, const cornerScene newScene){} //Explicitly compile all the templates template class loopClosureFalko <bsc, bscExtractor, NNMatcher>; diff --git a/src/loop_closure_falko.h b/src/loop_closure_falko.h index 5069bcc..35be401 100644 --- a/src/loop_closure_falko.h +++ b/src/loop_closure_falko.h @@ -16,7 +16,6 @@ * laser_scan_utils includes * **************************/ #include "laser_scan.h" -#include "corner_scene.h" #include "scene_falko.h" #include "loop_closure_base_2d.h" @@ -64,11 +63,11 @@ public: /** \brief compare new scans against the trained set in order to find loop closures **/ - //void findLoopClosure(std::list<cornerScene>& scenes, const cornerScene newScene){} + //void findLoopClosure(std::list<sceneFalko>& scenes, const cornerScene newScene){} /** \brief update the scene struct with keypoints and descriptors **/ - std::shared_ptr<cornerScene<D>> extractScene(LaserScan &scan,LaserScanParams &scanParams); + std::shared_ptr<sceneFalko<D>> extractScene(LaserScan &scan,LaserScanParams &scanParams); }; diff --git a/src/scene_falko.h b/src/scene_falko.h index 1fa8722..73f857f 100644 --- a/src/scene_falko.h +++ b/src/scene_falko.h @@ -40,7 +40,7 @@ struct sceneFalko : sceneBase{ std::vector<D> descriptorsList; }; -typedef std::shared_ptr<cornerScene<falkolib::BSC>> sceneFalkoBSCPtr; +typedef std::shared_ptr<sceneFalko<falkolib::BSC>> sceneFalkoBSCPtr; } /* namespace laserscanutils */ -- GitLab