added gtest for findLoopClosure function

src/loop_closure_falko.cpp

@@ -30,11 +30,11 @@ namespace laserscanutils{
         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(LaserScan &scan,LaserScanParams &scanParams){
         auto scanFALKO=std::make_shared<falkolib::LaserScan>(scanParams.angle_min_, scanParams.angle_max_, scan.ranges_raw_.size());
@@ -76,6 +76,8 @@ namespace laserscanutils{
 */
     //void findLoopClosure(std::list<sceneFalko>& scenes, const cornerScene newScene){}
 
+
+
     //Explicitly compile all the templates
     template class loopClosureFalko <bsc, bscExtractor, NNMatcher>;
 }

src/loop_closure_falko.h

@@ -11,6 +11,8 @@
 #include <iostream>
 #include <fstream>
 #include <memory>
+#include <iterator>
+#include <list>
 
 /**************************
  *      laser_scan_utils includes     *
@@ -63,11 +65,7 @@ public:
 
     /** \brief Destructor 
     **/
-    ~loopClosureFalko();
-
-    /** \brief compare new scans against the trained set in order to find loop closures
-     **/
-    //void findLoopClosure(std::list<sceneFalko>& scenes, const cornerScene newScene){}
+    ~loopClosureFalko(){}
 
     /** \brief Create and update the scene struct with keypoints and descriptors
      **/
@@ -101,7 +99,28 @@ public:
         new_match -> sceneTuple = std::make_tuple(scene1,scene2);
         return new_match;
     }
-    
+
+    /** \brief compare new scans against the trained set in order to find loop closures
+     **/
+    std::list<matchLoopClosurePtr> findLoopClosure(std::list<sceneFalkoBSCPtr> &l_scenes, const sceneFalkoBSCPtr &new_scene){
+        int number_ref_sc = l_scenes.size();
+
+        std::list<matchLoopClosurePtr> matchings;
+
+        for (int i=0; i<number_ref_sc; i++ ){
+
+            auto l_front = l_scenes.begin();
+
+            std::advance(l_front, i);
+            //std::cout << "list_scenes[i]" << *l_front << std::endl;
+
+            //matchScene()
+
+        }
+
+        return matchings;
+
+    }
 };
 } /* namespace laserscanutils */
 

test/gtest_loop_closure_base_2d.cpp

@@ -41,6 +41,16 @@ TEST(loop_closure_falko, TestExtractSceneAndMatcher)
 
   ASSERT_EQ(keypoints_matched, 18);
 
+  //TEST findLoopClosure
+
+  std::list<std::shared_ptr<sceneFalko<bsc>>> ref_scenes;
+
+  ref_scenes.push_back(new_scene);
+
+  ref_scenes.push_back(new_scene);
+
+  auto matchings = LCFalko.findLoopClosure(ref_scenes,new_scene);
+
 //  PRINTF("All good at TestTest::DummyTestExample !\n");
 }