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Commit c82419de authored by Sergi Pujol's avatar Sergi Pujol
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added computation of transform in match_loop_closure struct

parent e2d0413c
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1 merge request!4Resolve "Implementation of Falko lib"
......@@ -43,8 +43,8 @@ typedef falkolib::BSCExtractor<falkolib::FALKO> bscExtractor;
typedef falkolib::CGH cgh;
typedef falkolib::CGHExtractor<falkolib::FALKO> cghExtractor;
template <typename T, typename D> using NNMatcher = falkolib::NNMatcher<T, D>;
template <typename T, typename D> using AHTmatcher = falkolib::AHTMatcher<T, D>;
template <typename T, typename D> using nn_matcher = falkolib::NNMatcher<T, D>;
template <typename T, typename D> using aht_matcher = falkolib::AHTMatcher<T, D>;
struct ParameterLoopClosureFalko {
// Keypoints extractor Default
......@@ -175,6 +175,9 @@ public:
new_match->score = (double)matching_number /
(double)std::min(scene_1_falko->keypoints_list_.size(),
scene_2_falko->keypoints_list_.size());
computeTransform(scene_1_falko->keypoints_list_, scene_2_falko->keypoints_list_, asso_nn, new_match->transform);
return new_match;
}
......
......@@ -27,6 +27,7 @@ struct MatchLoopClosure {
bool match;
int keypoints_number_match;
double score;
Eigen::Affine2d transform;
};
typedef std::shared_ptr<MatchLoopClosure> matchLoopClosurePtr;
......
......@@ -18,7 +18,7 @@ TEST(loop_closure_falko, TestLoopClosureFalkoAllFunctions) {
}
ParameterLoopClosureFalko param;
LoopClosureFalko<bsc, bscExtractor, NNMatcher> loop_cl_falko(param);
LoopClosureFalko<bsc, bscExtractor, nn_matcher> loop_cl_falko(param);
// Test convert2LaserScanFALKO
std::shared_ptr<falkolib::LaserScan> scan_falko =
......
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