From 9e1e17d3bf69a1cfd0890c2d4626ade351fa8efe Mon Sep 17 00:00:00 2001
From: Sergi Pujol <sergi.pujol.badell@estudiantat.upc.edu>
Date: Mon, 15 Feb 2021 15:53:21 +0100
Subject: [PATCH] function matchLoopClosurePtr implemented
---
src/loop_closure_falko.cpp | 17 +++++++++++++++--
src/loop_closure_falko.h | 2 +-
2 files changed, 16 insertions(+), 3 deletions(-)
diff --git a/src/loop_closure_falko.cpp b/src/loop_closure_falko.cpp
index af17f23..d0628a1 100644
--- a/src/loop_closure_falko.cpp
+++ b/src/loop_closure_falko.cpp
@@ -56,8 +56,21 @@ namespace laserscanutils{
}
template <typename D,typename Extr, typename M>
- typename loopClosureFalko<D,Extr, M>::matchLoopClosurePtr matchScene(std::shared_ptr<sceneFalko<D>> scene1,LaserScanParams &scanParams){
-
+ typename loopClosureFalko<D,Extr, M>::matchLoopClosurePtr matchScene(std::shared_ptr<sceneFalko<D>> scene1,std::shared_ptr<sceneFalko<D>> scene2){
+ std::vector<std::pair<int, int> > assoNN;
+ int matching_number = match(scene1->keypointsList,scene2->keypointsList, assoNN);
+ auto new_match=std::make_shared<matchLoopClosure<D>>();
+ new_match-> keypointsNumberMatch = matching_number;
+ int keypoints_number_th=5;
+ if (matching_number>keypoints_number_th){
+ new_match-> match = true;
+ } else {
+ new_match-> match = false;
+ }
+ new_match -> sceneTuple[0] = scene1;
+ new_match -> sceneTuple[1] = scene2;
+
+ return new_match;
}
//void findLoopClosure(std::list<sceneFalko>& scenes, const cornerScene newScene){}
diff --git a/src/loop_closure_falko.h b/src/loop_closure_falko.h
index 5afcbd0..d8b21fa 100644
--- a/src/loop_closure_falko.h
+++ b/src/loop_closure_falko.h
@@ -79,7 +79,7 @@ public:
/** \brief Convert scans from laserscanutils::LaserScan to falkolib::LaserScan object
**/
- matchLoopClosurePtr matchScene(sceneFalkoBSCPtr scene1 ,LaserScanParams &scanParams);
+ matchLoopClosurePtr matchScene(sceneFalkoBSCPtr scene1 ,std::shared_ptr<sceneFalko<D>> scene2);
};
--
GitLab