From d754a078b01020a476514a43d76a08c74ee9fe4e Mon Sep 17 00:00:00 2001
From: Sergi Pujol <sergi.pujol.badell@estudiantat.upc.edu>
Date: Tue, 20 Apr 2021 13:51:22 +0200
Subject: [PATCH] doxygen comments added
---
src/loop_closure_base.h | 60 ++++++++++++++++++++--------------------
src/loop_closure_falko.h | 12 ++++++--
2 files changed, 40 insertions(+), 32 deletions(-)
diff --git a/src/loop_closure_base.h b/src/loop_closure_base.h
index fe790cf..b6a815f 100644
--- a/src/loop_closure_base.h
+++ b/src/loop_closure_base.h
@@ -23,41 +23,41 @@ namespace laserscanutils {
/** \brief A 2base class for loop closure using falko library
*/
-class LoopClosureBase2d {
-private:
-public:
- /** \brief Constructor
- **/
- LoopClosureBase2d(){};
+class LoopClosureBase2d
+{
+ private:
+ public:
+ /** \brief Constructor
+ **/
+ LoopClosureBase2d(){};
- /** \brief Destructor
- **/
- ~LoopClosureBase2d(){};
+ /** \brief Destructor
+ **/
+ ~LoopClosureBase2d(){};
- /** \brief update the scene struct with keypoints and descriptors
- **/
- virtual sceneBasePtr extractScene(const LaserScan &scan,
- const LaserScanParams &scanParams) = 0;
+ /** \brief update the scene struct with keypoints and descriptors
+ **/
+ virtual sceneBasePtr extractScene(const LaserScan &scan, const LaserScanParams &scanParams) = 0;
- /** \brief Create and update a matchLoopClosure struct with the info that is
- *produced when matching two given scenes
- **/
- virtual MatchLoopClosureScenePtr matchScene(sceneBasePtr _scene1,
- sceneBasePtr _scene2) = 0;
+ /** \brief Create and update a matchLoopClosure struct with the info that is
+ *produced when matching two given scenes
+ **/
+ virtual MatchLoopClosureScenePtr matchScene(sceneBasePtr _scene1, sceneBasePtr _scene2) = 0;
- /** \brief compare new scans against the trained set in order to find loop
- *closures
- **/
- virtual std::map<double, MatchLoopClosureScenePtr>
- findLoopClosure(std::list<std::shared_ptr<SceneBase>> _l_scenes,
- const sceneBasePtr _new_scene) {
- std::map<double, MatchLoopClosureScenePtr> matchings;
- for (auto ref_scene : _l_scenes) {
- auto match = matchScene(ref_scene, _new_scene);
- matchings.emplace(match->score, match);
+ /** \brief It matches a target scene against a list of references scenes in order to find loop
+ * closures
+ **/
+ virtual std::map<double, MatchLoopClosureScenePtr> findLoopClosure(std::list<std::shared_ptr<SceneBase>> _l_scenes,
+ const sceneBasePtr _new_scene)
+ {
+ std::map<double, MatchLoopClosureScenePtr> matchings;
+ for (auto ref_scene : _l_scenes)
+ {
+ auto match = matchScene(ref_scene, _new_scene);
+ matchings.emplace(match->score, match);
+ }
+ return matchings;
}
- return matchings;
- }
};
} /* namespace laserscanutils */
diff --git a/src/loop_closure_falko.h b/src/loop_closure_falko.h
index bb0c1cc..5b177d4 100644
--- a/src/loop_closure_falko.h
+++ b/src/loop_closure_falko.h
@@ -80,9 +80,18 @@ struct ParameterLoopClosureFalko
double thetaAbsMax_ = 1.57;
};
-/** \brief A base class for loop closure using falko library
+/** \brief A class for loop closure using falko library
+ *
* The class is a wrapper of the falkolib that is designed to be used for loop closures in the wolf problem
+ *
+ * It extracts scenes from a laserscanutils::LaserScan. The scenes contain keypoints and descriptors
+ *
+ * It matches a target scene against a list of reference scenes.
+ *
+ * The reference scenes are found from a search of the previous captures
+ *
* Diferent types of descriptors can be used, and are specified as template parameters.
+ *
* \tparam D Descriptor type. <bsc> or <cgh>
* \tparam Extr descriptor extractor type <bscExtractor> or <cghExtractor>
* \tparam M Matcher type <nn_matcher> or <aht_matcher>
@@ -198,7 +207,6 @@ class LoopClosureFalko : public LoopClosureBase2d, public falkolib::FALKOExtract
new_match->transform_vector.head(2) = new_match->transform.translation();
new_match->transform_vector(2) = Eigen::Rotation2Dd(new_match->transform.rotation()).angle();
- //}
return new_match;
}
--
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