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labrobotica
algorithms
laser_scan_utils
Commits
cc9c7061
Commit
cc9c7061
authored
4 years ago
by
Sergi Pujol
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Plain Diff
evaluateNewRefScene function modified
parent
0c88cc69
No related branches found
No related tags found
1 merge request
!4
Resolve "Implementation of Falko lib"
Changes
3
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3 changed files
src/corner_falko_2d.cpp
+8
-5
8 additions, 5 deletions
src/corner_falko_2d.cpp
src/corner_falko_2d.h
+3
-0
3 additions, 0 deletions
src/corner_falko_2d.h
src/examples/corner_falko_demo.cpp
+5
-1
5 additions, 1 deletion
src/examples/corner_falko_demo.cpp
with
16 additions
and
6 deletions
src/corner_falko_2d.cpp
+
8
−
5
View file @
cc9c7061
...
@@ -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
){
f
alkolib
::
LaserScan
scanFALKO
=
convert2LaserScanFALKO
(
scan
,
scanParams
);
f
indLoopClosure
(
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
This diff is collapsed.
Click to expand it.
src/corner_falko_2d.h
+
3
−
0
View file @
cc9c7061
...
@@ -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 */
...
...
This diff is collapsed.
Click to expand it.
src/examples/corner_falko_demo.cpp
+
5
−
1
View file @
cc9c7061
...
@@ -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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