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Commit b1cac066 authored by Sergi Pujol's avatar Sergi Pujol
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changed function convert2LaserScanFALKO to loopClosureFalko

parent 756eb988
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1 merge request!4Resolve "Implementation of Falko lib"
......@@ -19,12 +19,7 @@ namespace laserscanutils{
return NewScene;
}
*/
std::shared_ptr<falkolib::LaserScan> loopClosureBase2d::convert2LaserScanFALKO(LaserScan &scan,LaserScanParams &scanParams){
auto scanFALKO=std::make_shared<falkolib::LaserScan>(scanParams.angle_min_, scanParams.angle_max_, scan.ranges_raw_.size());
std::vector<double> doubleRanges(scan.ranges_raw_.begin(), scan.ranges_raw_.end());
((*scanFALKO).fromRanges)(doubleRanges);
return scanFALKO;
}
//void findLoopClosure(std::list<cornerScene>& scenes, const cornerScene newScene){}
......
......@@ -59,11 +59,6 @@ public:
**/
virtual std::shared_ptr<sceneFalko<falkolib::BSC>> extractScene(LaserScan &scan,LaserScanParams &scanParams){}
/** \brief Convert scans from laserscanutils::LaserScan to falkolib::LaserScan object
**/
std::shared_ptr<falkolib::LaserScan> convert2LaserScanFALKO(LaserScan &scan,LaserScanParams &scanParams);
};
} /* namespace laserscanutils */
......
......@@ -36,6 +36,14 @@ namespace laserscanutils{
template <typename D,typename Extr, typename M>
loopClosureFalko<D,Extr,M>::~loopClosureFalko(){}
template <typename D,typename Extr, typename M>
std::shared_ptr<falkolib::LaserScan> loopClosureFalko<D,Extr, M>::convert2LaserScanFALKO(LaserScan &scan,LaserScanParams &scanParams){
auto scanFALKO=std::make_shared<falkolib::LaserScan>(scanParams.angle_min_, scanParams.angle_max_, scan.ranges_raw_.size());
std::vector<double> doubleRanges(scan.ranges_raw_.begin(), scan.ranges_raw_.end());
((*scanFALKO).fromRanges)(doubleRanges);
return scanFALKO;
}
template <typename D,typename Extr, typename M>
std::shared_ptr<sceneFalko<D>> loopClosureFalko<D,Extr, M>::extractScene(LaserScan &scan,LaserScanParams &scanParams){
auto newScene=std::make_shared<sceneFalko<D>>();
......
......@@ -68,6 +68,10 @@ public:
**/
std::shared_ptr<sceneFalko<D>> extractScene(LaserScan &scan,LaserScanParams &scanParams) override;
/** \brief Convert scans from laserscanutils::LaserScan to falkolib::LaserScan object
**/
std::shared_ptr<falkolib::LaserScan> convert2LaserScanFALKO(LaserScan &scan,LaserScanParams &scanParams);
};
} /* namespace laserscanutils */
......
......@@ -36,7 +36,7 @@ TEST(loop_closure_falko, extractScene)
// PRINTF("All good at TestTest::DummyTestExample !\n");
}
TEST(loop_closure_base_2d, convert2laserScanFalko)
TEST(loop_closure_falko, convert2laserScanFalko)
{
int scanSize = 1440;
......@@ -50,9 +50,9 @@ TEST(loop_closure_base_2d, convert2laserScanFalko)
scan.ranges_raw_.push_back(testRanges1[i]);
}
loopClosureBase2d LCBase;
loopClosureFalko<bsc, bscExtractor, NNMatcher> LCFalko;
std::shared_ptr<falkolib::LaserScan> scanFALKO=LCBase.convert2LaserScanFALKO(scan, laserParams);
std::shared_ptr<falkolib::LaserScan> scanFALKO=LCFalko.convert2LaserScanFALKO(scan, laserParams);
int firstPoint = ((*scanFALKO).ranges)[0];
......
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