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Commit 6d22d275 authored by Sergi Pujol's avatar Sergi Pujol
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added struct matchLoopClosure

parent 75df9800
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1 merge request!4Resolve "Implementation of Falko lib"
...@@ -69,7 +69,8 @@ SET(HDRS ...@@ -69,7 +69,8 @@ SET(HDRS
SET(HDRS ${HDRS} SET(HDRS ${HDRS}
corner_falko_2d.h corner_falko_2d.h
loop_closure_falko.h loop_closure_falko.h
scene_falko.h) scene_falko.h
match_loop_closure.h)
ENDIF(falkolib_FOUND) ENDIF(falkolib_FOUND)
#sources #sources
......
...@@ -18,6 +18,7 @@ ...@@ -18,6 +18,7 @@
#include "laser_scan.h" #include "laser_scan.h"
#include "scene_falko.h" #include "scene_falko.h"
#include "loop_closure_base_2d.h" #include "loop_closure_base_2d.h"
#include "match_loop_closure.h"
/************************** /**************************
* Falko includes * * Falko includes *
...@@ -51,6 +52,7 @@ private: ...@@ -51,6 +52,7 @@ private:
public: public:
typedef std::shared_ptr<sceneFalko<D>> sceneFalkoBSCPtr; typedef std::shared_ptr<sceneFalko<D>> sceneFalkoBSCPtr;
typedef std::shared_ptr<matchLoopClosure> matchLoopClosurePtr;
Extr extractor_; Extr extractor_;
M matcher_; M matcher_;
...@@ -75,7 +77,9 @@ public: ...@@ -75,7 +77,9 @@ public:
**/ **/
std::shared_ptr<falkolib::LaserScan> convert2LaserScanFALKO(LaserScan &scan,LaserScanParams &scanParams); std::shared_ptr<falkolib::LaserScan> convert2LaserScanFALKO(LaserScan &scan,LaserScanParams &scanParams);
//std::share /** \brief Convert scans from laserscanutils::LaserScan to falkolib::LaserScan object
**/
matchLoopClosurePtr matchScene(LaserScan &scan,LaserScanParams &scanParams);
}; };
......
/**
* \file match_loop_closure.h
*
* Created on: Feb 15, 2021
* \author: spujol
*/
#ifndef MATCH_LOOP_CLOSURE_H_
#define MATCH_LOOP_CLOSURE_H_
#include <iostream>
#include <fstream>
namespace laserscanutils
{
struct matchLoopClosure{
//std::vector<falkolib::FALKO> keypointsList;
//std::vector<D> descriptorsList;
};
} /* namespace laserscanutils */
#endif /* MATCH_LOOP_CLOSURE_H_ */
...@@ -18,7 +18,6 @@ namespace laserscanutils ...@@ -18,7 +18,6 @@ namespace laserscanutils
struct sceneBase{ struct sceneBase{
//std::vector<falkolib::FALKO> keypointsList; //std::vector<falkolib::FALKO> keypointsList;
//std::vector<D> descriptorsList; //std::vector<D> descriptorsList;
std::vector<double> test;
}; };
......
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