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labrobotica
algorithms
laser_scan_utils
Commits
b4f6adfa
Commit
b4f6adfa
authored
4 years ago
by
Sergi Pujol
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passed all functions to loop_closure_falko.h. cpp file empty
parent
f4f75253
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1 merge request
!4
Resolve "Implementation of Falko lib"
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3 changed files
src/loop_closure_falko.cpp
+6
-1
6 additions, 1 deletion
src/loop_closure_falko.cpp
src/loop_closure_falko.h
+28
-3
28 additions, 3 deletions
src/loop_closure_falko.h
src/match_loop_closure.h
+0
-2
0 additions, 2 deletions
src/match_loop_closure.h
with
34 additions
and
6 deletions
src/loop_closure_falko.cpp
+
6
−
1
View file @
b4f6adfa
...
@@ -10,6 +10,7 @@
...
@@ -10,6 +10,7 @@
namespace
laserscanutils
{
namespace
laserscanutils
{
// CONSTRUCTOR
// CONSTRUCTOR
/*
template <typename D, typename Extr, typename M>
template <typename D, typename Extr, typename M>
loopClosureFalko<D, Extr, M>::loopClosureFalko(int _circularSectorNumber,
loopClosureFalko<D, Extr, M>::loopClosureFalko(int _circularSectorNumber,
int _radialRingNumber)
int _radialRingNumber)
...
@@ -27,11 +28,14 @@ loopClosureFalko<D, Extr, M>::loopClosureFalko(int _circularSectorNumber,
...
@@ -27,11 +28,14 @@ loopClosureFalko<D, Extr, M>::loopClosureFalko(int _circularSectorNumber,
// Matcher Extractor Parameters
// Matcher Extractor Parameters
matcher_.setDistanceThreshold(0.1);
matcher_.setDistanceThreshold(0.1);
}
}
*/
/*
/*
// DESTRUCTOR
// DESTRUCTOR
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>
template <typename D, typename Extr, typename M>
std::shared_ptr<falkolib::LaserScan>
std::shared_ptr<falkolib::LaserScan>
loopClosureFalko<D, Extr, M>::convert2LaserScanFALKO(
loopClosureFalko<D, Extr, M>::convert2LaserScanFALKO(
...
@@ -43,6 +47,7 @@ loopClosureFalko<D, Extr, M>::convert2LaserScanFALKO(
...
@@ -43,6 +47,7 @@ loopClosureFalko<D, Extr, M>::convert2LaserScanFALKO(
((*scanFALKO).fromRanges)(doubleRanges);
((*scanFALKO).fromRanges)(doubleRanges);
return scanFALKO;
return scanFALKO;
}
}
*/
/*
/*
template <typename D,typename Extr, typename M>
template <typename D,typename Extr, typename M>
typename loopClosureFalko<D,Extr, M>::sceneFalkoBSCPtr
typename loopClosureFalko<D,Extr, M>::sceneFalkoBSCPtr
...
@@ -86,5 +91,5 @@ loopClosureFalko<D, Extr, M>::convert2LaserScanFALKO(
...
@@ -86,5 +91,5 @@ loopClosureFalko<D, Extr, M>::convert2LaserScanFALKO(
// newScene){}
// newScene){}
// Explicitly compile all the templates
// Explicitly compile all the templates
template
class
loopClosureFalko
<
bsc
,
bscExtractor
,
NNMatcher
>;
//
template class loopClosureFalko<bsc, bscExtractor, NNMatcher>;
}
}
This diff is collapsed.
Click to expand it.
src/loop_closure_falko.h
+
28
−
3
View file @
b4f6adfa
...
@@ -42,6 +42,10 @@ typedef falkolib::BSC bsc;
...
@@ -42,6 +42,10 @@ typedef falkolib::BSC bsc;
typedef
falkolib
::
BSCExtractor
<
falkolib
::
FALKO
>
bscExtractor
;
typedef
falkolib
::
BSCExtractor
<
falkolib
::
FALKO
>
bscExtractor
;
typedef
falkolib
::
NNMatcher
<
falkolib
::
FALKO
>
NNMatcher
;
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
/** \brief A base class for loop closure using falko library
**/
**/
...
@@ -52,13 +56,28 @@ private:
...
@@ -52,13 +56,28 @@ private:
public:
public:
typedef
std
::
shared_ptr
<
sceneFalko
<
D
>>
sceneFalkoBSCPtr
;
typedef
std
::
shared_ptr
<
sceneFalko
<
D
>>
sceneFalkoBSCPtr
;
typedef
std
::
shared_ptr
<
matchLoopClosure
<
D
>>
matchLoopClosurePtr
;
typedef
std
::
shared_ptr
<
matchLoopClosure
<
D
>>
matchLoopClosurePtr
;
typedef
std
::
shared_ptr
<
falkolib
::
LaserScan
>
laserScanPtr
;
Extr
extractor_
;
Extr
extractor_
;
M
matcher_
;
M
matcher_
;
/** \brief Constructor
/** \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
/** \brief Destructor
**/
**/
...
@@ -81,8 +100,14 @@ public:
...
@@ -81,8 +100,14 @@ public:
/** \brief Convert scans from laserscanutils::LaserScan to
/** \brief Convert scans from laserscanutils::LaserScan to
*falkolib::LaserScan object
*falkolib::LaserScan object
**/
**/
std
::
shared_ptr
<
falkolib
::
LaserScan
>
laserScanPtr
convert2LaserScanFALKO
(
LaserScan
&
scan
,
LaserScanParams
&
scanParams
)
{
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
/** \brief Create and update a matchLoopClosure struct with the info that is
*produced when matching two given scenes
*produced when matching two given scenes
...
...
This diff is collapsed.
Click to expand it.
src/match_loop_closure.h
+
0
−
2
View file @
b4f6adfa
...
@@ -21,8 +21,6 @@
...
@@ -21,8 +21,6 @@
namespace
laserscanutils
{
namespace
laserscanutils
{
template
<
typename
D
>
struct
matchLoopClosure
{
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
// tuple that stores the pointers of two matched scenes
std
::
tuple
<
std
::
shared_ptr
<
sceneFalko
<
D
>>
,
std
::
shared_ptr
<
sceneFalko
<
D
>>>
std
::
tuple
<
std
::
shared_ptr
<
sceneFalko
<
D
>>
,
std
::
shared_ptr
<
sceneFalko
<
D
>>>
...
...
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