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Commit cc9c7061 authored by Sergi Pujol's avatar Sergi Pujol
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evaluateNewRefScene function modified

parent 0c88cc69
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1 merge request!4Resolve "Implementation of Falko lib"
This commit is part of merge request !4. Comments created here will be created in the context of that merge request.
...@@ -91,14 +91,18 @@ int CornerFalko2d::evaluateNewReferenceScene(LaserScan scan,LaserScanParams scan ...@@ -91,14 +91,18 @@ int CornerFalko2d::evaluateNewReferenceScene(LaserScan scan,LaserScanParams scan
int NewSceneAdded=0; 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; return NewSceneAdded;
...@@ -106,5 +110,4 @@ int CornerFalko2d::evaluateNewReferenceScene(LaserScan scan,LaserScanParams scan ...@@ -106,5 +110,4 @@ int CornerFalko2d::evaluateNewReferenceScene(LaserScan scan,LaserScanParams scan
} }
} // laserscanutils namespace } // laserscanutils namespace
...@@ -108,6 +108,9 @@ public: ...@@ -108,6 +108,9 @@ public:
int matchingPosition=-1; int matchingPosition=-1;
int keypointsNumberTh=2; 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 */ } /* namespace laserscanutils */
......
...@@ -35,10 +35,14 @@ int main(int argc, char** argv) ...@@ -35,10 +35,14 @@ int main(int argc, char** argv)
CornerFalko2d cornerMatching; CornerFalko2d cornerMatching;
cornerMatching.evaluateNewReferenceScene(scan, laserParams, scanInterval); int sceneAdded = cornerMatching.evaluateNewReferenceScene(scan, laserParams, scanInterval);
std::cout << "num keypoints1 extracted: " << cornerMatching.lastKeypointSet.size() << std::endl; std::cout << "num keypoints1 extracted: " << cornerMatching.lastKeypointSet.size() << std::endl;
if (sceneAdded==1){
std::cout << "NewRefSceneAdded!!! " << std::endl;
}
cornerMatching.findLoopClosure(scan, laserParams); cornerMatching.findLoopClosure(scan, laserParams);
std::cout << "matching number : " << cornerMatching.matchingNumber << std::endl; std::cout << "matching number : " << cornerMatching.matchingNumber << std::endl;
......
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