From a4d5c236cb5f818aadf97089b538c70670905811 Mon Sep 17 00:00:00 2001 From: Sergi Pujol <sergi.pujol.badell@estudiantat.upc.edu> Date: Tue, 30 Mar 2021 14:55:27 +0200 Subject: [PATCH] falkolib commit updated, some refactor --- deps/falkolib | 2 +- src/loop_closure_base.h | 4 ++-- src/loop_closure_falko.h | 10 ++++------ src/scene_falko.h | 3 +++ 4 files changed, 10 insertions(+), 9 deletions(-) diff --git a/deps/falkolib b/deps/falkolib index 327bafa..0017c6c 160000 --- a/deps/falkolib +++ b/deps/falkolib @@ -1 +1 @@ -Subproject commit 327bafa8ee1d9ea545d9766415986ea13a1064d1 +Subproject commit 0017c6c5be963b923684bfd8eb6bd8b7641ba1b6 diff --git a/src/loop_closure_base.h b/src/loop_closure_base.h index 1140c3b..1109b2d 100644 --- a/src/loop_closure_base.h +++ b/src/loop_closure_base.h @@ -36,8 +36,8 @@ public: /** \brief update the scene struct with keypoints and descriptors **/ - virtual sceneBasePtr extractScene(LaserScan &scan, - LaserScanParams &scanParams) = 0; + virtual sceneBasePtr extractScene(const LaserScan &scan, + const LaserScanParams &scanParams) = 0; /** \brief Create and update a matchLoopClosure struct with the info that is *produced when matching two given scenes diff --git a/src/loop_closure_falko.h b/src/loop_closure_falko.h index 59de67a..6d8b763 100644 --- a/src/loop_closure_falko.h +++ b/src/loop_closure_falko.h @@ -39,9 +39,7 @@ namespace laserscanutils { -typedef falkolib::BSC bsc; typedef falkolib::BSCExtractor<falkolib::FALKO> bscExtractor; -typedef falkolib::CGH cgh; typedef falkolib::CGHExtractor<falkolib::FALKO> cghExtractor; template <typename T, typename D> using nn_matcher = falkolib::NNMatcher<T, D>; @@ -122,8 +120,8 @@ public: /** \brief Create and update the scene struct with keypoints and descriptors **/ - sceneBasePtr extractScene(LaserScan &_scan, - LaserScanParams &_scan_params) override { + sceneBasePtr extractScene(const LaserScan &_scan, + const LaserScanParams &_scan_params) override { auto new_scene = std::make_shared<SceneFalko<D>>(); auto scan_falko = convert2LaserScanFALKO(_scan, _scan_params); // Extract keypoints @@ -137,8 +135,8 @@ public: /** \brief Convert scans from laserscanutils::LaserScan to *falkolib::LaserScan object **/ - laserScanPtr convert2LaserScanFALKO(LaserScan &_scan, - LaserScanParams &_scan_params) { + laserScanPtr convert2LaserScanFALKO(const LaserScan &_scan, + const LaserScanParams &_scan_params) { auto scan_falko = std::make_shared<falkolib::LaserScan>( _scan_params.angle_min_, _scan_params.angle_max_, _scan.ranges_raw_.size()); diff --git a/src/scene_falko.h b/src/scene_falko.h index ce8e999..b74aa91 100644 --- a/src/scene_falko.h +++ b/src/scene_falko.h @@ -35,6 +35,9 @@ namespace laserscanutils { +typedef falkolib::BSC bsc; +typedef falkolib::CGH cgh; + template <typename D> struct SceneFalko : public SceneBase { std::vector<falkolib::FALKO> keypoints_list_; std::vector<D> descriptors_list_; -- GitLab