From 9af5aa0ed50b902ff3ff235a18783da0affb92ac Mon Sep 17 00:00:00 2001
From: Sergi Pujol <sergi.pujol.badell@estudiantat.upc.edu>
Date: Tue, 26 Jan 2021 17:00:56 +0100
Subject: [PATCH] CornerFalko2d class updated
---
src/corner_falko_2d.cpp | 28 ++++++++++++++++++++++++++++
src/corner_falko_2d.h | 22 ++++++++++++++++++----
2 files changed, 46 insertions(+), 4 deletions(-)
diff --git a/src/corner_falko_2d.cpp b/src/corner_falko_2d.cpp
index d0c8c90..80e5b84 100644
--- a/src/corner_falko_2d.cpp
+++ b/src/corner_falko_2d.cpp
@@ -7,4 +7,32 @@
#include "corner_falko_2d.h"
+namespace wolf{
+
+void CornerFalko2d::extract (falkolib::LaserScan scan){
+
+
+
+ fe.setMinExtractionRange(0.25);
+ fe.setMaxExtractionRange(25);
+ fe.enableSubbeam(true);
+ fe.setNMSRadius(0.1);
+ fe.setNeighB(0.01);
+ fe.setBRatio(4);
+ fe.setGridSectors(16);
+
+ std::vector<falkolib::FALKO> keypoints;
+
+ /*
+ fe.extract(scan, keypoints);
+
+
+ falkolib::BSCExtractor<falkolib::FALKO> bsc(16,8);
+ std::vector<falkolib::BSC> bscDesc;
+ bsc.compute(scan, keypoints, bscDesc);
+ */
+}
+
+}
+
diff --git a/src/corner_falko_2d.h b/src/corner_falko_2d.h
index 476584a..b5986b3 100644
--- a/src/corner_falko_2d.h
+++ b/src/corner_falko_2d.h
@@ -33,11 +33,22 @@
namespace wolf
{
-class LandmarkCorner2d
+class CornerFalko2d
{
public:
- std::vector<std::vector<falkolib::FALKO>> cornerSet;
- std::vector<std::vector<falkolib::BSC>> descriptorSet;
+ /** \brief Constructor
+ *
+ * Constructor
+ *
+ **/
+ CornerFalko2d();
+
+ /** \brief Destructor
+ *
+ * Destructor
+ *
+ **/
+ ~CornerFalko2d();
/** \brief Gets a set of landmarks/scenes to use as trained set.
**/
@@ -45,12 +56,15 @@ public:
/** \brief Extract landmark/scene (list of corners) from a given 2D scan
**/
- void extract();
+ void extract(falkolib::LaserScan scan);
/** \brief compare new scans against the training set in order to find loop closures
**/
void findLoopClosure();
+ std::vector<std::vector<falkolib::FALKO>> CornerSet;
+ std::vector<std::vector<falkolib::BSC>> descriptorSets;
+ falkolib::FALKOExtractor fe;
};
} /* namespace wolf */
--
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