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Commit 837e56b7 authored by Sergi Pujol's avatar Sergi Pujol
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class loopClosureBase2d created

parent 60bd46d2
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1 merge request!4Resolve "Implementation of Falko lib"
......@@ -40,11 +40,7 @@ namespace laserscanutils
{
/** \brief A 2D corner extractor and loop closure computing class
*
*
*
*
*/
**/
class CornerFalko2d: public falkolib::FALKOExtractor, public falkolib::BSCExtractor<falkolib::FALKO>, public falkolib::NNMatcher<falkolib::FALKO>
{
......@@ -64,15 +60,9 @@ public:
CornerFalko2d(int _circularSectorNumber=16, int _radialRingNumber=8, bool _useKeypointRadius = true, double _radius = 0.1) ;
/** \brief Destructor
*
* Destructor
*
**/
~CornerFalko2d();
/** \brief Extract landmark/scene (list of corners) from a given 2D scan
**/
/** \brief compare new scans against the training set in order to find loop closures
**/
void findLoopClosure(LaserScan scan,LaserScanParams scanParams);
......
/**
* \file loop_closure_base_2d.h
*
* Created on: Feb 9, 2021
* \author: spujol
*/
#ifndef LOOP_CLOSURE_BASE_2D_H_
#define LOOP_CLOSURE_BASE_2D_H_
#include <iostream>
#include <fstream>
namespace laserscanutils
{
/** \brief A 2base class for loop closure using falko library
*/
class loopClosureBase2d{
private:
public:
/** \brief Constructor
**/
loopClosureBase2d();
/** \brief Destructor
**/
~loopClosureBase2d();
};
} /* namespace laserscanutils */
#endif /* LANDMARK_POLYLINE_2d_H_ */
\ No newline at end of file
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