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Commit c0889682 authored by Sergi Pujol's avatar Sergi Pujol
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corrected error in MatchLoopClosure

parent 523ce247
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1 merge request!4Resolve "Implementation of Falko lib"
......@@ -16,42 +16,41 @@
* laser_scan_utils includes *
**************************/
#include "laser_scan.h"
#include "scene_base.h"
#include "match_loop_closure.h"
#include "scene_base.h"
namespace laserscanutils {
/** \brief A 2base class for loop closure using falko library
*/
*/
class LoopClosureBase2d {
private:
public:
/** \brief Constructor
**/
**/
LoopClosureBase2d(){};
/** \brief Destructor
**/
**/
~LoopClosureBase2d(){};
/** \brief update the scene struct with keypoints and descriptors
**/
virtual sceneBasePtr
extractScene(LaserScan &scan, LaserScanParams &scanParams) =0;
virtual sceneBasePtr extractScene(LaserScan &scan,
LaserScanParams &scanParams) = 0;
/** \brief Create and update a matchLoopClosure struct with the info that is
*produced when matching two given scenes
*produced when matching two given scenes
**/
virtual matchLoopClosurePtr matchScene(sceneBasePtr _scene1,
sceneBasePtr _scene2) =0;
sceneBasePtr _scene2) = 0;
/** \brief compare new scans against the trained set in order to find loop
*closures
*closures
**/
virtual std::map<double,matchLoopClosurePtr>
findLoopClosure(std::list<std::shared_ptr<SceneBase>> _l_scenes,const sceneBasePtr _new_scene){
virtual std::map<double, matchLoopClosurePtr>
findLoopClosure(std::list<std::shared_ptr<SceneBase>> _l_scenes,
const sceneBasePtr _new_scene) {
std::map<double, matchLoopClosurePtr> matchings;
for (auto ref_scene : _l_scenes) {
auto match = matchScene(ref_scene, _new_scene);
......@@ -59,7 +58,6 @@ public:
}
return matchings;
}
};
} /* namespace laserscanutils */
......
......@@ -14,6 +14,8 @@
#include <tuple>
#include "scene_base.h"
namespace laserscanutils {
struct MatchLoopClosure {
......
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