From 756eb9881832c43ca1cf4294a2785f184cc9a3a5 Mon Sep 17 00:00:00 2001
From: Sergi Pujol <sergi.pujol.badell@estudiantat.upc.edu>
Date: Mon, 15 Feb 2021 13:57:54 +0100
Subject: [PATCH] implemented loopClosureFalko::extractScene with override
---
src/loop_closure_base_2d.h | 5 +++--
src/loop_closure_falko.h | 3 +--
src/scene_base.h | 1 +
src/scene_falko.h | 2 +-
4 files changed, 6 insertions(+), 5 deletions(-)
diff --git a/src/loop_closure_base_2d.h b/src/loop_closure_base_2d.h
index a634af4..97965a4 100644
--- a/src/loop_closure_base_2d.h
+++ b/src/loop_closure_base_2d.h
@@ -17,6 +17,7 @@
**************************/
#include "laser_scan.h"
#include "scene_base.h"
+#include "scene_falko.h"
/**************************
* Falko includes *
@@ -52,11 +53,11 @@ public:
/** \brief compare new scans against the trained set in order to find loop closures
**/
//virtual void findLoopClosure(std::list<cornerScene>& scenes, const cornerScene newScene){}
- virtual void findLoopClosure(){}
+ //virtual void findLoopClosure(){}
/** \brief update the scene struct with keypoints and descriptors
**/
- //virtual void extractScene(LaserScan &scan,LaserScanParams &scanParams){}
+ virtual std::shared_ptr<sceneFalko<falkolib::BSC>> extractScene(LaserScan &scan,LaserScanParams &scanParams){}
/** \brief Convert scans from laserscanutils::LaserScan to falkolib::LaserScan object
**/
diff --git a/src/loop_closure_falko.h b/src/loop_closure_falko.h
index 35be401..e75c91d 100644
--- a/src/loop_closure_falko.h
+++ b/src/loop_closure_falko.h
@@ -51,7 +51,6 @@ private:
public:
Extr extractor_;
M matcher_;
- int test=1;
/** \brief Constructor
**/
@@ -67,7 +66,7 @@ public:
/** \brief update the scene struct with keypoints and descriptors
**/
- std::shared_ptr<sceneFalko<D>> extractScene(LaserScan &scan,LaserScanParams &scanParams);
+ std::shared_ptr<sceneFalko<D>> extractScene(LaserScan &scan,LaserScanParams &scanParams) override;
};
diff --git a/src/scene_base.h b/src/scene_base.h
index 4be0f75..7e7dd89 100644
--- a/src/scene_base.h
+++ b/src/scene_base.h
@@ -18,6 +18,7 @@ namespace laserscanutils
struct sceneBase{
//std::vector<falkolib::FALKO> keypointsList;
//std::vector<D> descriptorsList;
+ std::vector<double> test;
};
diff --git a/src/scene_falko.h b/src/scene_falko.h
index 73f857f..65b7253 100644
--- a/src/scene_falko.h
+++ b/src/scene_falko.h
@@ -35,7 +35,7 @@ namespace laserscanutils
{
template <typename D>
-struct sceneFalko : sceneBase{
+struct sceneFalko : public sceneBase{
std::vector<falkolib::FALKO> keypointsList;
std::vector<D> descriptorsList;
};
--
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