From b4f6adfad88575b8d0974a98db8bad24e48fae6a Mon Sep 17 00:00:00 2001
From: Sergi Pujol <sergi.pujol.badell@estudiantat.upc.edu>
Date: Mon, 22 Feb 2021 09:51:09 +0100
Subject: [PATCH] passed all functions to loop_closure_falko.h. cpp file empty
---
src/loop_closure_falko.cpp | 7 ++++++-
src/loop_closure_falko.h | 31 ++++++++++++++++++++++++++++---
src/match_loop_closure.h | 2 --
3 files changed, 34 insertions(+), 6 deletions(-)
diff --git a/src/loop_closure_falko.cpp b/src/loop_closure_falko.cpp
index c07eb63..0a41ac0 100644
--- a/src/loop_closure_falko.cpp
+++ b/src/loop_closure_falko.cpp
@@ -10,6 +10,7 @@
namespace laserscanutils {
// CONSTRUCTOR
+/*
template <typename D, typename Extr, typename M>
loopClosureFalko<D, Extr, M>::loopClosureFalko(int _circularSectorNumber,
int _radialRingNumber)
@@ -27,11 +28,14 @@ loopClosureFalko<D, Extr, M>::loopClosureFalko(int _circularSectorNumber,
// Matcher Extractor Parameters
matcher_.setDistanceThreshold(0.1);
}
+*/
/*
// DESTRUCTOR
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(
@@ -43,6 +47,7 @@ loopClosureFalko<D, Extr, M>::convert2LaserScanFALKO(
((*scanFALKO).fromRanges)(doubleRanges);
return scanFALKO;
}
+*/
/*
template <typename D,typename Extr, typename M>
typename loopClosureFalko<D,Extr, M>::sceneFalkoBSCPtr
@@ -86,5 +91,5 @@ loopClosureFalko<D, Extr, M>::convert2LaserScanFALKO(
// newScene){}
// Explicitly compile all the templates
-template class loopClosureFalko<bsc, bscExtractor, NNMatcher>;
+//template class loopClosureFalko<bsc, bscExtractor, NNMatcher>;
}
diff --git a/src/loop_closure_falko.h b/src/loop_closure_falko.h
index 0e28aee..80a2d49 100644
--- a/src/loop_closure_falko.h
+++ b/src/loop_closure_falko.h
@@ -42,6 +42,10 @@ typedef falkolib::BSC bsc;
typedef falkolib::BSCExtractor<falkolib::FALKO> bscExtractor;
typedef falkolib::NNMatcher<falkolib::FALKO> NNMatcher;
+typedef falkolib::CGH cgh;
+typedef falkolib::CGHExtractor<falkolib::FALKO> cghExtractor;
+typedef falkolib::AHTMatcher<falkolib::FALKO> AHTatcher;
+
/** \brief A base class for loop closure using falko library
**/
@@ -52,13 +56,28 @@ private:
public:
typedef std::shared_ptr<sceneFalko<D>> sceneFalkoBSCPtr;
typedef std::shared_ptr<matchLoopClosure<D>> matchLoopClosurePtr;
+ typedef std::shared_ptr<falkolib::LaserScan> laserScanPtr;
Extr extractor_;
M matcher_;
/** \brief Constructor
**/
- loopClosureFalko(int _circularSectorNumber = 16, int _radialRingNumber = 8);
+ loopClosureFalko(int _circularSectorNumber = 16, int _radialRingNumber = 8)
+ : loopClosureBase2d(), falkolib::FALKOExtractor(),
+ extractor_(_circularSectorNumber, _radialRingNumber), matcher_() {
+ // FALKO Extractor Parameters
+ setMinExtractionRange(0.1);
+ setMaxExtractionRange(25);
+ enableSubbeam(true);
+ setNMSRadius(0.1);
+ setNeighB(0.01);
+ setBRatio(4);
+ setGridSectors(16);
+
+ // Matcher Extractor Parameters
+ matcher_.setDistanceThreshold(0.1);
+};
/** \brief Destructor
**/
@@ -81,8 +100,14 @@ public:
/** \brief Convert scans from laserscanutils::LaserScan to
*falkolib::LaserScan object
**/
- std::shared_ptr<falkolib::LaserScan>
- convert2LaserScanFALKO(LaserScan &scan, LaserScanParams &scanParams);
+ laserScanPtr 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;
+};
/** \brief Create and update a matchLoopClosure struct with the info that is
*produced when matching two given scenes
diff --git a/src/match_loop_closure.h b/src/match_loop_closure.h
index 2753a4b..41d1009 100644
--- a/src/match_loop_closure.h
+++ b/src/match_loop_closure.h
@@ -21,8 +21,6 @@
namespace laserscanutils {
template <typename D> struct matchLoopClosure {
- // std::shared_ptr<sceneFalko<D>> scene1;
- // std::shared_ptr<sceneFalko<D>> scene2;
// tuple that stores the pointers of two matched scenes
std::tuple<std::shared_ptr<sceneFalko<D>>, std::shared_ptr<sceneFalko<D>>>
--
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