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Commit 9af5aa0e authored by Sergi Pujol's avatar Sergi Pujol
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CornerFalko2d class updated

parent 66ce29a7
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1 merge request!4Resolve "Implementation of Falko lib"
This commit is part of merge request !4. Comments created here will be created in the context of that merge request.
......@@ -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);
*/
}
}
......@@ -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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