added the prohibition of two matches for scan

src/corner_falko_2d.cpp

@@ -61,18 +61,26 @@ void CornerFalko2d::findLoopClosure(LaserScan scan,LaserScanParams scanParams){
     //Matching
     int rows = keypointSets.size();
 
-    matchingNumber=0;
+    numberKeypointsMatch=0;
+    numberSceneMatch=0;
     matchingPosition=-1;
     for (int i=0; i<rows;i++){
         std::vector<std::pair<int, int> > assoNN;
 
         int NewMatchingNumber = match(keypointSets[i], keypointSet2, assoNN);
 
-        if (NewMatchingNumber > matchingNumber && NewMatchingNumber>keypointsNumberTh) {
-            matchingNumber=NewMatchingNumber;
+        if (NewMatchingNumber > numberKeypointsMatch && NewMatchingNumber>keypointsNumberTh) {
+            numberKeypointsMatch=NewMatchingNumber;
             matchingPosition=i;
+            numberSceneMatch=numberSceneMatch+1;
+
         }
     }
+    if (numberSceneMatch>1){
+        numberKeypointsMatch=0;
+        numberSceneMatch=0;
+        matchingPosition=-1;
+    }
 
 }
 
@@ -95,7 +103,7 @@ int CornerFalko2d::evaluateNewReferenceScene(LaserScan scan,LaserScanParams scan
 
         findLoopClosure(scan, scanParams);
 
-        if (matchingNumber < refSceneAddingTh) {
+        if (numberKeypointsMatch < refSceneAddingTh) {
 
             falkolib::LaserScan scanFALKO= convert2LaserScanFALKO(scan, scanParams);
 

src/corner_falko_2d.h

@@ -98,8 +98,11 @@ public:
     std::vector<std::vector<falkolib::BSC>> descriptorSets;
     std::vector<falkolib::BSC>lastDescriptorSet;
 
+    // Number of Scene matched when performing the loop closure
+    int numberKeypointsMatch=0;
 
-    int matchingNumber;
+    //Number of keypoints that are matched between 2 scenes when performing the loop closure
+    int numberSceneMatch=0;
 
     int scanNumber=0;
 

src/examples/corner_falko_demo.cpp

@@ -45,5 +45,5 @@ int main(int argc, char** argv)
 
     cornerMatching.findLoopClosure(scan, laserParams);
 
-    std::cout << "matching number : " << cornerMatching.matchingNumber << std::endl;
+    std::cout << "matching number : " << cornerMatching.numberKeypointsMatch << std::endl;
 }