From cc9c706110615ac926ec42b3ba1374192aea6d04 Mon Sep 17 00:00:00 2001
From: Sergi Pujol <sergi.pujol.badell@estudiantat.upc.edu>
Date: Sat, 6 Feb 2021 11:56:42 +0100
Subject: [PATCH] evaluateNewRefScene function modified
---
src/corner_falko_2d.cpp | 13 ++++++++-----
src/corner_falko_2d.h | 3 +++
src/examples/corner_falko_demo.cpp | 6 +++++-
3 files changed, 16 insertions(+), 6 deletions(-)
diff --git a/src/corner_falko_2d.cpp b/src/corner_falko_2d.cpp
index c48b928..8bd0c3a 100644
--- a/src/corner_falko_2d.cpp
+++ b/src/corner_falko_2d.cpp
@@ -91,14 +91,18 @@ int CornerFalko2d::evaluateNewReferenceScene(LaserScan scan,LaserScanParams scan
int NewSceneAdded=0;
- if (scanNumber % scanInterval == 0){
+ if (scanNumber % scanInterval == 0 || scanNumber == 1){
- falkolib::LaserScan scanFALKO= convert2LaserScanFALKO(scan, scanParams);
+ findLoopClosure(scan, scanParams);
- AddNewReferenceScene(scanFALKO);
+ if (matchingNumber < refSceneAddingTh) {
- NewSceneAdded=1;
+ falkolib::LaserScan scanFALKO= convert2LaserScanFALKO(scan, scanParams);
+ AddNewReferenceScene(scanFALKO);
+
+ NewSceneAdded=1;
+ }
}
return NewSceneAdded;
@@ -106,5 +110,4 @@ int CornerFalko2d::evaluateNewReferenceScene(LaserScan scan,LaserScanParams scan
}
-
} // laserscanutils namespace
diff --git a/src/corner_falko_2d.h b/src/corner_falko_2d.h
index bdab934..a3a3048 100644
--- a/src/corner_falko_2d.h
+++ b/src/corner_falko_2d.h
@@ -108,6 +108,9 @@ public:
int matchingPosition=-1;
int keypointsNumberTh=2;
+
+ // Max number of matched keypoints between 2 scenes for the candidate scene be considered a good New reference scene
+ int refSceneAddingTh =6;
};
} /* namespace laserscanutils */
diff --git a/src/examples/corner_falko_demo.cpp b/src/examples/corner_falko_demo.cpp
index e9af47f..30358e4 100644
--- a/src/examples/corner_falko_demo.cpp
+++ b/src/examples/corner_falko_demo.cpp
@@ -35,10 +35,14 @@ int main(int argc, char** argv)
CornerFalko2d cornerMatching;
- cornerMatching.evaluateNewReferenceScene(scan, laserParams, scanInterval);
+ int sceneAdded = cornerMatching.evaluateNewReferenceScene(scan, laserParams, scanInterval);
std::cout << "num keypoints1 extracted: " << cornerMatching.lastKeypointSet.size() << std::endl;
+ if (sceneAdded==1){
+ std::cout << "NewRefSceneAdded!!! " << std::endl;
+ }
+
cornerMatching.findLoopClosure(scan, laserParams);
std::cout << "matching number : " << cornerMatching.matchingNumber << std::endl;
--
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