work in progress

src/loop_closure_falko.h

@@ -63,7 +63,7 @@ struct ParameterLoopClosureFalko {
   // matcher threshold Default
   double matcher_distance_th_ = 0.2;
   int keypoints_number_th_ = 5;
-  int match_type = 1; // match_type=1-> uses keypoints and descriptors for
+  int match_type_ = 1; // match_type=1-> uses keypoints and descriptors for
                       // matching. match_type=2-> uses only keypoints for
                       // matching
 
@@ -110,6 +110,7 @@ public:
     matcher_.setDistanceThreshold(_param.matcher_distance_th_);
     //matcher_desc_.setDistanceThreshold(_param.matcher_distance_th_);
     keypoints_number_th_ = _param.keypoints_number_th_;
+    match_type_=_param.match_type_;
   };
 
   /** \brief Destructor
@@ -152,23 +153,24 @@ public:
     std::vector<std::pair<int, int>> asso_nn;
     auto scene_1_falko = std::static_pointer_cast<SceneFalko<D>>(_scene_1);
     auto scene_2_falko = std::static_pointer_cast<SceneFalko<D>>(_scene_2);
-    int match_type = 1;
     int matching_number;
-    if (match_type = 1) {
+    if (match_type_ == 1) {
       matching_number = matcher_.match(scene_1_falko->keypoints_list_,
                                        scene_2_falko->keypoints_list_, asso_nn);
-
-    } else if (match_type = 2) {
+      std::cout << "AAAA" << std::endl;
+    } else if (match_type_ == 2) {
       matching_number = matcher_.match(
         scene_1_falko->keypoints_list_, scene_1_falko->descriptors_list_,
         scene_2_falko->keypoints_list_, scene_2_falko->descriptors_list_,
         asso_nn);
+        std::cout << "BBB" << std::endl;
         
-    } /*else if (match_type = 3) {
+    } /*else if (match_type_ = 3) {
                matching_number = matcher_desc_.match(scene_1_falko->descriptors_list_,
                               scene_2_falko->descriptors_list_, asso_nn);
     }
 */
+std::cout << "matching_number : " << matching_number << std::endl;
     auto new_match = std::make_shared<MatchLoopClosure>();
     new_match->keypoints_number_match = matching_number;
     if (matching_number > keypoints_number_th_) {
@@ -182,7 +184,10 @@ public:
     new_match->score = (double)matching_number /
                        (double)std::min(scene_1_falko->keypoints_list_.size(),
                                         scene_2_falko->keypoints_list_.size());
-
+    std::cout << "score : " << new_match->score << std::endl;
+    std::cout << "matching_number : " << matching_number << std::endl;
+    std::cout << "kp1 : " << scene_1_falko->keypoints_list_.size() << std::endl;
+    std::cout << "kp2 : " << scene_2_falko->keypoints_list_.size() << std::endl;
     return new_match;
   }
 
@@ -206,6 +211,7 @@ public:
   }
 */
   int keypoints_number_th_;
+  int match_type_;
 };
 
 

src/match_loop_closure.h

@@ -13,7 +13,6 @@
 #include <memory>
 #include <tuple>
 
-
 #include "scene_base.h"
 
 namespace laserscanutils {