From cdec0e4bab2082b7abeecb27cc586e60e0443830 Mon Sep 17 00:00:00 2001
From: Sergi Pujol <sergi.pujol.badell@estudiantat.upc.edu>
Date: Mon, 22 Feb 2021 10:49:31 +0100
Subject: [PATCH] code guidelines applyied
---
src/loop_closure_falko.h | 36 +++++++--------
test/gtest_loop_closure_falko.cpp | 76 ++++++++-----------------------
2 files changed, 37 insertions(+), 75 deletions(-)
diff --git a/src/loop_closure_falko.h b/src/loop_closure_falko.h
index 2d1689e..6089b8a 100644
--- a/src/loop_closure_falko.h
+++ b/src/loop_closure_falko.h
@@ -105,16 +105,16 @@ public:
/** \brief Create and update the scene struct with keypoints and descriptors
**/
- sceneFalkoBSCPtr extractScene(LaserScan &scan, LaserScanParams &scanParams) {
- auto newScene = std::make_shared<sceneFalko<D>>();
- auto scanFALKO =
- loopClosureFalko<D, Extr, M>::convert2LaserScanFALKO(scan, scanParams);
+ sceneFalkoBSCPtr extractScene(LaserScan &_scan, LaserScanParams &_scan_params) {
+ auto new_scene = std::make_shared<sceneFalko<D>>();
+ auto scan_falko =
+ convert2LaserScanFALKO(_scan, _scan_params);
// Extract keypoints
- extract((*scanFALKO), (newScene->keypointsList));
+ extract(*scan_falko, (new_scene->keypointsList));
// Compute descriptors
- extractor_.compute(*scanFALKO, newScene->keypointsList,
- newScene->descriptorsList);
- return newScene;
+ extractor_.compute(*scan_falko, new_scene->keypointsList,
+ new_scene->descriptorsList);
+ return new_scene;
}
/** \brief Convert scans from laserscanutils::LaserScan to
@@ -132,11 +132,11 @@ public:
/** \brief Create and update a matchLoopClosure struct with the info that is
*produced when matching two given scenes
**/
- matchLoopClosurePtr matchScene(sceneFalkoBSCPtr scene1,
- sceneFalkoBSCPtr scene2) {
- std::vector<std::pair<int, int>> assoNN;
+ matchLoopClosurePtr matchScene(sceneFalkoBSCPtr _scene1,
+ sceneFalkoBSCPtr _scene2) {
+ std::vector<std::pair<int, int>> asso_nn;
int matching_number =
- matcher_.match(scene1->keypointsList, scene2->keypointsList, assoNN);
+ matcher_.match(_scene1->keypointsList, _scene2->keypointsList, asso_nn);
auto new_match = std::make_shared<matchLoopClosure<D>>();
new_match->keypointsNumberMatch = matching_number;
if (matching_number > keypoints_number_th) {
@@ -144,7 +144,7 @@ public:
} else {
new_match->match = false;
}
- new_match->sceneTuple = std::make_tuple(scene1, scene2);
+ new_match->sceneTuple = std::make_tuple(_scene1, _scene2);
return new_match;
}
@@ -152,14 +152,14 @@ public:
*closures
**/
std::list<matchLoopClosurePtr>
- findLoopClosure(std::list<sceneFalkoBSCPtr> &l_scenes,
- const sceneFalkoBSCPtr &new_scene) {
- int number_ref_sc = l_scenes.size();
+ findLoopClosure(std::list<sceneFalkoBSCPtr> &_l_scenes,
+ const sceneFalkoBSCPtr &_new_scene) {
+ int number_ref_sc = _l_scenes.size();
std::list<matchLoopClosurePtr> matchings;
for (int i = 0; i < number_ref_sc; i++) {
- auto l_front = l_scenes.begin();
+ auto l_front = _l_scenes.begin();
std::advance(l_front, i);
- auto new_match = matchScene(*l_front, new_scene);
+ auto new_match = matchScene(*l_front, _new_scene);
matchings.push_back(new_match);
}
return matchings;
diff --git a/test/gtest_loop_closure_falko.cpp b/test/gtest_loop_closure_falko.cpp
index 0373da0..ac80971 100644
--- a/test/gtest_loop_closure_falko.cpp
+++ b/test/gtest_loop_closure_falko.cpp
@@ -6,89 +6,51 @@
using namespace laserscanutils;
TEST(loop_closure_falko, TestLoopClosureFalkoAllFunctions) {
- int scanSize = 1440;
+ // Initialization
+ int scan_size = 1440;
LaserScan scan;
- LaserScanParams laserParams;
-
- laserParams.angle_min_ = 0;
- laserParams.angle_max_ = 2.0 * M_PI;
-
- for (int i = 0; i < scanSize; i++) {
+ LaserScanParams laser_params;
+ laser_params.angle_min_ = 0;
+ laser_params.angle_max_ = 2.0 * M_PI;
+ for (int i = 0; i < scan_size; i++) {
scan.ranges_raw_.push_back(testRanges1[i]);
}
-
parameterLoopClosureFalko param;
- loopClosureFalko<bsc, bscExtractor, NNMatcher> LCFalko(param);
-
-
- auto new_scene = LCFalko.extractScene(scan, laserParams);
+ loopClosureFalko<bsc, bscExtractor, NNMatcher> loop_cl_falko(param);
- int detectedKeypoints = ((*new_scene).keypointsList).size();
+ // Test convert2LaserScanFALKO
+ std::shared_ptr<falkolib::LaserScan> scan_falko =
+ loop_cl_falko.convert2LaserScanFALKO(scan, laser_params);
+ int firstPoint = scan_falko->ranges[0];
+ ASSERT_EQ(firstPoint, 250);
+
+ // Test extractScene
+ auto new_scene = loop_cl_falko.extractScene(scan, laser_params);
+ int detectedKeypoints = new_scene->keypointsList.size();
int detectedDescriptors = new_scene->descriptorsList.size();
-
ASSERT_EQ(detectedKeypoints, 18);
-
ASSERT_EQ(detectedDescriptors, 18);
- // Test matcher
-
- auto new_match = LCFalko.matchScene(new_scene, new_scene);
-
+ // Test matcheScene
+ auto new_match = loop_cl_falko.matchScene(new_scene, new_scene);
int keypoints_matched = new_match->keypointsNumberMatch;
-
ASSERT_EQ(keypoints_matched, 18);
// TEST findLoopClosure
-
std::list<std::shared_ptr<sceneFalko<bsc>>> ref_scenes;
-
ref_scenes.push_back(new_scene);
-
ref_scenes.push_back(new_scene);
-
- auto matchings = LCFalko.findLoopClosure(ref_scenes, new_scene);
-
+ auto matchings = loop_cl_falko.findLoopClosure(ref_scenes, new_scene);
int matchings_number = matchings.size();
-
ASSERT_EQ(matchings_number, 2);
-
auto l_front = matchings.begin();
-
auto there_is_match = l_front->get()->match;
-
ASSERT_EQ(there_is_match, true);
// PRINTF("All good at TestTest::DummyTestExample !\n");
}
-TEST(loop_closure_falko2, convert2laserScanFalko) {
- int scanSize = 1440;
-
- LaserScan scan;
- LaserScanParams laserParams;
-
- laserParams.angle_min_ = 0;
- laserParams.angle_max_ = 2.0 * M_PI;
-
- for (int i = 0; i < scanSize; i++) {
- scan.ranges_raw_.push_back(testRanges1[i]);
- }
-
- parameterLoopClosureFalko param;
- loopClosureFalko<bsc, bscExtractor, NNMatcher> LCFalko(param);
-
-
- std::shared_ptr<falkolib::LaserScan> scanFALKO =
- LCFalko.convert2LaserScanFALKO(scan, laserParams);
-
- int firstPoint = ((*scanFALKO).ranges)[0];
-
- ASSERT_EQ(firstPoint, 250);
-
- // PRINTF("All good at TestTest::DummyTestExample !\n");
-}
-
int main(int argc, char **argv) {
testing::InitGoogleTest(&argc, argv);
return RUN_ALL_TESTS();
--
GitLab