From 75df9800593e5fc595b3e36ac707c6874fb08449 Mon Sep 17 00:00:00 2001
From: Sergi Pujol <sergi.pujol.badell@estudiantat.upc.edu>
Date: Mon, 15 Feb 2021 14:33:26 +0100
Subject: [PATCH] added typedef for sceneFalkoBSCPtr
---
src/loop_closure_falko.cpp | 2 +-
src/loop_closure_falko.h | 7 ++++++-
2 files changed, 7 insertions(+), 2 deletions(-)
diff --git a/src/loop_closure_falko.cpp b/src/loop_closure_falko.cpp
index 6bb979f..ff3c887 100644
--- a/src/loop_closure_falko.cpp
+++ b/src/loop_closure_falko.cpp
@@ -45,7 +45,7 @@ namespace laserscanutils{
}
template <typename D,typename Extr, typename M>
- std::shared_ptr<sceneFalko<D>> loopClosureFalko<D,Extr, M>::extractScene(LaserScan &scan,LaserScanParams &scanParams){
+ typename loopClosureFalko<D,Extr, M>::sceneFalkoBSCPtr 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
diff --git a/src/loop_closure_falko.h b/src/loop_closure_falko.h
index 620c638..4c0623c 100644
--- a/src/loop_closure_falko.h
+++ b/src/loop_closure_falko.h
@@ -49,6 +49,9 @@ class loopClosureFalko : public loopClosureBase2d, public falkolib::FALKOExtract
private:
public:
+
+ typedef std::shared_ptr<sceneFalko<D>> sceneFalkoBSCPtr;
+
Extr extractor_;
M matcher_;
@@ -66,12 +69,14 @@ public:
/** \brief update the scene struct with keypoints and descriptors
**/
- std::shared_ptr<sceneFalko<D>> extractScene(LaserScan &scan,LaserScanParams &scanParams) override;
+ sceneFalkoBSCPtr extractScene(LaserScan &scan,LaserScanParams &scanParams) override;
/** \brief Convert scans from laserscanutils::LaserScan to falkolib::LaserScan object
**/
std::shared_ptr<falkolib::LaserScan> convert2LaserScanFALKO(LaserScan &scan,LaserScanParams &scanParams);
+ //std::share
+
};
} /* namespace laserscanutils */
--
GitLab