From 9398ade14c127f5696739634844983c3191434ee Mon Sep 17 00:00:00 2001
From: Sergi Pujol <sergi.pujol.badell@estudiantat.upc.edu>
Date: Sun, 14 Feb 2021 22:34:43 +0100
Subject: [PATCH] gtest_loop_closure_falko added but not implemented
---
src/loop_closure_base_2d.h | 2 +-
src/loop_closure_falko.cpp | 9 +++++---
src/loop_closure_falko.h | 8 ++++---
test/gtest_loop_closure_base_2d.cpp | 34 +++++++++++++++++++++++++++++
4 files changed, 46 insertions(+), 7 deletions(-)
diff --git a/src/loop_closure_base_2d.h b/src/loop_closure_base_2d.h
index def39c0..58ddc4e 100644
--- a/src/loop_closure_base_2d.h
+++ b/src/loop_closure_base_2d.h
@@ -56,7 +56,7 @@ public:
/** \brief update the scene struct with keypoints and descriptors
**/
- virtual void extractScene(LaserScan &scan,LaserScanParams &scanParams){}
+ //virtual void extractScene(LaserScan &scan,LaserScanParams &scanParams){}
/** \brief Convert scans from laserscanutils::LaserScan to falkolib::LaserScan object
**/
diff --git a/src/loop_closure_falko.cpp b/src/loop_closure_falko.cpp
index 38fb164..f03732a 100644
--- a/src/loop_closure_falko.cpp
+++ b/src/loop_closure_falko.cpp
@@ -22,10 +22,11 @@ namespace laserscanutils{
setGridSectors(16);
// Matcher Extractor Parameters
- matcher.setDistanceThreshold(0.1);
+ //matcher.setDistanceThreshold(0.1);
}
+
// DESTRUCTOR
template <typename D,typename E, typename M>
loopClosureFalko<D,E,M>::~loopClosureFalko(){}
@@ -35,9 +36,10 @@ namespace laserscanutils{
auto scanFALKO =loopClosureFalko<D,E,M>::convert2LaserScanFALKO(scan, scanParams);
-
auto NewScene=std::make_shared<cornerScene<D>>();
+ //((*NewScene).keypointsList)=((*scanFALKO).ranges);
+
return NewScene;
}
@@ -45,5 +47,6 @@ namespace laserscanutils{
//void findLoopClosure(std::list<cornerScene>& 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 451cb82..4150397 100644
--- a/src/loop_closure_falko.h
+++ b/src/loop_closure_falko.h
@@ -17,6 +17,7 @@
**************************/
#include "laser_scan.h"
#include "corner_scene.h"
+#include "loop_closure_base_2d.h"
/**************************
* Falko includes *
@@ -42,8 +43,9 @@ typedef falkolib::NNMatcher<falkolib::FALKO> NNMatcher;
/** \brief A base class for loop closure using falko library
**/
+
template <typename D, typename E, typename M>
-class loopClosureFalko : public falkolib::FALKOExtractor{
+class loopClosureFalko : public loopClosureBase2d, public falkolib::FALKOExtractor{
private:
public:
@@ -63,8 +65,8 @@ public:
**/
std::shared_ptr<cornerScene<D>> extractScene(LaserScan &scan,LaserScanParams &scanParams);
- E extractor;
- M matcher;
+ //E extractor;
+ //M matcher;
};
} /* namespace laserscanutils */
diff --git a/test/gtest_loop_closure_base_2d.cpp b/test/gtest_loop_closure_base_2d.cpp
index d60cab9..7ba6372 100644
--- a/test/gtest_loop_closure_base_2d.cpp
+++ b/test/gtest_loop_closure_base_2d.cpp
@@ -1,10 +1,44 @@
#include "gtest/utils_gtest.h"
#include "testData2.h"
#include "../src/loop_closure_base_2d.h"
+#include "../src/loop_closure_falko.h"
+
//#include "laser_scan_utils.h"
using namespace laserscanutils;
+TEST(loop_closure_fako, extractScene)
+{
+ int scanSize = 1440;
+
+ LaserScan scan;
+ LaserScanParams laserParams;
+
+ laserParams.angle_min_=0;
+ laserParams.angle_max_=2.0 * M_PI;
+
+ for (int i=0; i<scanSize; i++) {
+ scan.ranges_raw_.push_back(testRanges1[i]);
+ }
+
+ loopClosureFalko<bsc, bscExtractor, NNMatcher> LCFalko;
+
+ std::cout << "AAA" << std::endl;
+/*
+
+ std::shared_ptr<falkolib::LaserScan> scanFALKO=LCBase.convert2LaserScanFALKO(scan, laserParams);
+
+ int firstPoint = ((*scanFALKO).ranges)[0];
+
+ EXPECT_FALSE(false);
+
+ ASSERT_TRUE(true);
+
+ ASSERT_EQ(firstPoint, 250);
+*/
+// PRINTF("All good at TestTest::DummyTestExample !\n");
+}
+
TEST(loop_closure_base_2d, convert2laserScanFalko)
{
int scanSize = 1440;
--
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