From cc62e5234fd92a629b83849408b4b9b78b8cc69e Mon Sep 17 00:00:00 2001
From: Sergi Pujol <sergi.pujol.badell@estudiantat.upc.edu>
Date: Thu, 4 Feb 2021 16:59:15 +0100
Subject: [PATCH] refactor. function created convert2LaserScanFALKO. Added line
in CMakelists to solve eigen Error
---
src/CMakeLists.txt | 1 +
src/corner_falko_2d.cpp | 23 +++++++++++++----------
src/corner_falko_2d.h | 5 ++++-
3 files changed, 18 insertions(+), 11 deletions(-)
diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
index 9c9cf60..b187780 100644
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@@ -31,6 +31,7 @@ IF(faramotics_FOUND)
ENDIF(faramotics_FOUND)
if(${falkolib_FOUND})
+ add_definitions(-DEIGEN_DISABLE_UNALIGNED_ARRAY_ASSERT)
include_directories(${falkolib_INCLUDE_DIRS})
link_directories(${falkolib_LIBRARY_DIRS})
endif()
diff --git a/src/corner_falko_2d.cpp b/src/corner_falko_2d.cpp
index 64b4b5a..5c1193a 100644
--- a/src/corner_falko_2d.cpp
+++ b/src/corner_falko_2d.cpp
@@ -34,11 +34,8 @@ void CornerFalko2d::storeCorners (LaserScan scan,LaserScanParams scanParams, int
scanNumber=scanNumber+1;
if (scanNumber % scanInterval == 0){
-
- //Convert scans from laserscanutils::LaserScan to falkolib::LaserScan object
- falkolib::LaserScan scanFALKO(scanParams.angle_min_, scanParams.angle_max_, scan.ranges_raw_.size());
- std::vector<double> doubleRanges(scan.ranges_raw_.begin(), scan.ranges_raw_.end());
- scanFALKO.fromRanges(doubleRanges);
+
+ falkolib::LaserScan scanFALKO= convert2LaserScanFALKO(scan, scanParams);
// Extract keypoints
lastKeypointSet.clear();
@@ -59,11 +56,8 @@ void CornerFalko2d::storeCorners (LaserScan scan,LaserScanParams scanParams, int
void CornerFalko2d::findLoopClosure(LaserScan scan,LaserScanParams scanParams){
- //Convert scans from laserscanutils::LaserScan to falkolib::LaserScan object
- falkolib::LaserScan scanFALKO(scanParams.angle_min_, scanParams.angle_max_, scan.ranges_raw_.size());
- std::vector<double> doubleRanges(scan.ranges_raw_.begin(), scan.ranges_raw_.end());
- scanFALKO.fromRanges(doubleRanges);
-
+ falkolib::LaserScan scanFALKO= convert2LaserScanFALKO(scan, scanParams);
+
//Compute descriptors
std::vector<falkolib::FALKO> keypointSet2;
extract(scanFALKO, keypointSet2);
@@ -98,6 +92,15 @@ void CornerFalko2d::findLoopClosure(LaserScan scan,LaserScanParams scanParams){
}
+falkolib::LaserScan CornerFalko2d::convert2LaserScanFALKO(LaserScan scan,LaserScanParams scanParams){
+
+ falkolib::LaserScan scanFALKO(scanParams.angle_min_, scanParams.angle_max_, scan.ranges_raw_.size());
+ std::vector<double> doubleRanges(scan.ranges_raw_.begin(), scan.ranges_raw_.end());
+ scanFALKO.fromRanges(doubleRanges);
+ return scanFALKO;
+
+}
+
} // laserscanutils namespace
diff --git a/src/corner_falko_2d.h b/src/corner_falko_2d.h
index ffcff43..4d707cd 100644
--- a/src/corner_falko_2d.h
+++ b/src/corner_falko_2d.h
@@ -71,7 +71,6 @@ public:
/** \brief Extract landmark/scene (list of corners) from a given 2D scan
**/
- //void extract(falkolib::LaserScan scan);
/** \brief compare new scans against the training set in order to find loop closures
**/
@@ -82,6 +81,10 @@ public:
keypointsNumberTh = _th;
}
+ /** \brief Convert scans from laserscanutils::LaserScan to falkolib::LaserScan object
+ **/
+ falkolib::LaserScan convert2LaserScanFALKO(LaserScan scan,LaserScanParams scanParams);
+
std::vector<std::vector<falkolib::FALKO>> keypointSets;
std::vector<falkolib::FALKO> lastKeypointSet;
std::vector<std::vector<falkolib::BSC>> descriptorSets;
--
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