From b1cac066df46d769cf5c57da683f10b6f4238ef2 Mon Sep 17 00:00:00 2001 From: Sergi Pujol <sergi.pujol.badell@estudiantat.upc.edu> Date: Mon, 15 Feb 2021 14:07:16 +0100 Subject: [PATCH] changed function convert2LaserScanFALKO to loopClosureFalko --- src/loop_closure_base_2d.cpp | 7 +------ src/loop_closure_base_2d.h | 5 ----- src/loop_closure_falko.cpp | 8 ++++++++ src/loop_closure_falko.h | 4 ++++ test/gtest_loop_closure_base_2d.cpp | 6 +++--- 5 files changed, 16 insertions(+), 14 deletions(-) diff --git a/src/loop_closure_base_2d.cpp b/src/loop_closure_base_2d.cpp index aae465d..5274d20 100644 --- a/src/loop_closure_base_2d.cpp +++ b/src/loop_closure_base_2d.cpp @@ -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){} diff --git a/src/loop_closure_base_2d.h b/src/loop_closure_base_2d.h index 97965a4..cc50265 100644 --- a/src/loop_closure_base_2d.h +++ b/src/loop_closure_base_2d.h @@ -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 */ diff --git a/src/loop_closure_falko.cpp b/src/loop_closure_falko.cpp index dadc9a1..6bb979f 100644 --- a/src/loop_closure_falko.cpp +++ b/src/loop_closure_falko.cpp @@ -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>>(); diff --git a/src/loop_closure_falko.h b/src/loop_closure_falko.h index e75c91d..620c638 100644 --- a/src/loop_closure_falko.h +++ b/src/loop_closure_falko.h @@ -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 */ diff --git a/test/gtest_loop_closure_base_2d.cpp b/test/gtest_loop_closure_base_2d.cpp index b343922..e6ee4e1 100644 --- a/test/gtest_loop_closure_base_2d.cpp +++ b/test/gtest_loop_closure_base_2d.cpp @@ -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]; -- GitLab