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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{ ...@@ -19,12 +19,7 @@ namespace laserscanutils{
return NewScene; 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){} //void findLoopClosure(std::list<cornerScene>& scenes, const cornerScene newScene){}
......
...@@ -59,11 +59,6 @@ public: ...@@ -59,11 +59,6 @@ public:
**/ **/
virtual std::shared_ptr<sceneFalko<falkolib::BSC>> extractScene(LaserScan &scan,LaserScanParams &scanParams){} 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 */ } /* namespace laserscanutils */
......
...@@ -36,6 +36,14 @@ namespace laserscanutils{ ...@@ -36,6 +36,14 @@ namespace laserscanutils{
template <typename D,typename Extr, typename M> template <typename D,typename Extr, typename M>
loopClosureFalko<D,Extr,M>::~loopClosureFalko(){} 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> template <typename D,typename Extr, typename M>
std::shared_ptr<sceneFalko<D>> loopClosureFalko<D,Extr, M>::extractScene(LaserScan &scan,LaserScanParams &scanParams){ std::shared_ptr<sceneFalko<D>> loopClosureFalko<D,Extr, M>::extractScene(LaserScan &scan,LaserScanParams &scanParams){
auto newScene=std::make_shared<sceneFalko<D>>(); auto newScene=std::make_shared<sceneFalko<D>>();
......
...@@ -68,6 +68,10 @@ public: ...@@ -68,6 +68,10 @@ public:
**/ **/
std::shared_ptr<sceneFalko<D>> extractScene(LaserScan &scan,LaserScanParams &scanParams) override; 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 */ } /* namespace laserscanutils */
......
...@@ -36,7 +36,7 @@ TEST(loop_closure_falko, extractScene) ...@@ -36,7 +36,7 @@ TEST(loop_closure_falko, extractScene)
// PRINTF("All good at TestTest::DummyTestExample !\n"); // PRINTF("All good at TestTest::DummyTestExample !\n");
} }
TEST(loop_closure_base_2d, convert2laserScanFalko) TEST(loop_closure_falko, convert2laserScanFalko)
{ {
int scanSize = 1440; int scanSize = 1440;
...@@ -50,9 +50,9 @@ TEST(loop_closure_base_2d, convert2laserScanFalko) ...@@ -50,9 +50,9 @@ TEST(loop_closure_base_2d, convert2laserScanFalko)
scan.ranges_raw_.push_back(testRanges1[i]); 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]; int firstPoint = ((*scanFALKO).ranges)[0];
......
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