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Commit df3776e7 authored by Sergi Pujol's avatar Sergi Pujol
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added match_loop_closure struct

parent 6d22d275
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1 merge request!4Resolve "Implementation of Falko lib"
......@@ -52,7 +52,7 @@ private:
public:
typedef std::shared_ptr<sceneFalko<D>> sceneFalkoBSCPtr;
typedef std::shared_ptr<matchLoopClosure> matchLoopClosurePtr;
typedef std::shared_ptr<matchLoopClosure<D>> matchLoopClosurePtr;
Extr extractor_;
M matcher_;
......
......@@ -10,14 +10,26 @@
#include <iostream>
#include <fstream>
#include <memory>
/**************************
* laser_scan_utils includes *
**************************/
#include "scene_falko.h"
namespace laserscanutils
{
template <typename D>
struct matchLoopClosure{
//std::vector<falkolib::FALKO> keypointsList;
//std::vector<D> descriptorsList;
//std::shared_ptr<sceneFalko<D>> scene1;
//std::shared_ptr<sceneFalko<D>> scene2;
// tuple that stores the pointers of two matched scenes
std::tuple<std::shared_ptr<sceneFalko<D>>, std::shared_ptr<sceneFalko<D>>> sceneTuple;
bool match;
int keypointsNumberMatch;
double score;
};
......
......@@ -40,7 +40,7 @@ struct sceneFalko : public sceneBase{
std::vector<D> descriptorsList;
};
typedef std::shared_ptr<sceneFalko<falkolib::BSC>> sceneFalkoBSCPtr;
} /* namespace laserscanutils */
......
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