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labrobotica
algorithms
laser_scan_utils
Commits
c82419de
Commit
c82419de
authored
4 years ago
by
Sergi Pujol
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added computation of transform in match_loop_closure struct
parent
e2d0413c
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1 merge request
!4
Resolve "Implementation of Falko lib"
Changes
3
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3 changed files
src/loop_closure_falko.h
+5
-2
5 additions, 2 deletions
src/loop_closure_falko.h
src/match_loop_closure.h
+1
-0
1 addition, 0 deletions
src/match_loop_closure.h
test/gtest_loop_closure_falko.cpp
+1
-1
1 addition, 1 deletion
test/gtest_loop_closure_falko.cpp
with
7 additions
and
3 deletions
src/loop_closure_falko.h
+
5
−
2
View file @
c82419de
...
...
@@ -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
NNM
atcher
=
falkolib
::
NNMatcher
<
T
,
D
>
;
template
<
typename
T
,
typename
D
>
using
AHT
matcher
=
falkolib
::
AHTMatcher
<
T
,
D
>
;
template
<
typename
T
,
typename
D
>
using
nn_m
atcher
=
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
;
}
...
...
This diff is collapsed.
Click to expand it.
src/match_loop_closure.h
+
1
−
0
View file @
c82419de
...
...
@@ -27,6 +27,7 @@ struct MatchLoopClosure {
bool
match
;
int
keypoints_number_match
;
double
score
;
Eigen
::
Affine2d
transform
;
};
typedef
std
::
shared_ptr
<
MatchLoopClosure
>
matchLoopClosurePtr
;
...
...
This diff is collapsed.
Click to expand it.
test/gtest_loop_closure_falko.cpp
+
1
−
1
View file @
c82419de
...
...
@@ -18,7 +18,7 @@ TEST(loop_closure_falko, TestLoopClosureFalkoAllFunctions) {
}
ParameterLoopClosureFalko
param
;
LoopClosureFalko
<
bsc
,
bscExtractor
,
NNM
atcher
>
loop_cl_falko
(
param
);
LoopClosureFalko
<
bsc
,
bscExtractor
,
nn_m
atcher
>
loop_cl_falko
(
param
);
// Test convert2LaserScanFALKO
std
::
shared_ptr
<
falkolib
::
LaserScan
>
scan_falko
=
...
...
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