From c5e90bda982e42121f39ef07141a339cf8418c12 Mon Sep 17 00:00:00 2001 From: Sergi Pujol <spujol@iri.upc.edu> Date: Tue, 27 Apr 2021 09:41:00 +0200 Subject: [PATCH] use_descriptors if rectified --- src/loop_closure_falko.h | 15 ++++----------- src/scene_falko.h | 16 +++++----------- 2 files changed, 9 insertions(+), 22 deletions(-) diff --git a/src/loop_closure_falko.h b/src/loop_closure_falko.h index 5b177d4..1e862fd 100644 --- a/src/loop_closure_falko.h +++ b/src/loop_closure_falko.h @@ -26,13 +26,6 @@ /************************** * Falko includes * **************************/ -#include <falkolib/Feature/BSC.h> -#include <falkolib/Feature/CGH.h> -#include <falkolib/Feature/FALKO.h> -#include <falkolib/Feature/FALKOExtractor.h> - -#include <falkolib/Feature/BSCExtractor.h> -#include <falkolib/Feature/CGHExtractor.h> #include <falkolib/Matching/AHTMatcher.h> #include <falkolib/Matching/NNMatcher.h> @@ -50,8 +43,8 @@ template <typename T, typename D> using aht_matcher = falkolib::AHTMatcher<T, D> struct ParameterLoopClosureFalko { // Keypoints extractor Default - double min_extraction_range_ = 0.1; - double max_extraction_range_ = 25; + double min_extraction_range_ = 0; + double max_extraction_range_ = 30; bool enable_subbeam_ = true; double nms_radius_ = 0.1; double neigh_b_ = 0.01; @@ -176,12 +169,12 @@ class LoopClosureFalko : public LoopClosureBase2d, public falkolib::FALKOExtract int matching_number = 0; - if (use_descriptors_ == 1) + if (use_descriptors_ == 0) { matching_number = matcher_.match(scene_1_falko->keypoints_list_, scene_2_falko->keypoints_list_, asso_nn); } - else if (use_descriptors_ == 0) + else if (use_descriptors_ == 1) { matching_number = matcher_.match(scene_1_falko->keypoints_list_, scene_1_falko->descriptors_list_, diff --git a/src/scene_falko.h b/src/scene_falko.h index cb14ddf..18529b1 100644 --- a/src/scene_falko.h +++ b/src/scene_falko.h @@ -22,28 +22,22 @@ /************************** * Falko includes * **************************/ -#include <falkolib/Feature/BSC.h> -#include <falkolib/Feature/CGH.h> -#include <falkolib/Feature/FALKO.h> -#include <falkolib/Feature/FALKOExtractor.h> +#include <falkolib/Feature/FALKOExtractor.h> #include <falkolib/Feature/BSCExtractor.h> #include <falkolib/Feature/CGHExtractor.h> -#include <falkolib/Matching/AHTMatcher.h> -#include <falkolib/Matching/NNMatcher.h> - namespace laserscanutils { typedef falkolib::BSC bsc; typedef falkolib::CGH cgh; -template <typename D> struct SceneFalko : public SceneBase { - std::vector<falkolib::FALKO> keypoints_list_; - std::vector<D> descriptors_list_; +template <typename D> struct SceneFalko : public SceneBase +{ + std::vector<falkolib::FALKO> keypoints_list_; + std::vector<D> descriptors_list_; }; - } /* namespace laserscanutils */ #endif /* SCENE_FALKO_H_ */ -- GitLab