function matchLoopClosurePtr implemented

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){}

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);
 
     
 };