From df3776e795086a973814a78c4101fc7bb89e2312 Mon Sep 17 00:00:00 2001
From: Sergi Pujol <sergi.pujol.badell@estudiantat.upc.edu>
Date: Mon, 15 Feb 2021 15:10:13 +0100
Subject: [PATCH] added match_loop_closure struct
---
src/loop_closure_falko.h | 2 +-
src/match_loop_closure.h | 16 ++++++++++++++--
src/scene_falko.h | 2 +-
3 files changed, 16 insertions(+), 4 deletions(-)
diff --git a/src/loop_closure_falko.h b/src/loop_closure_falko.h
index b9b6c27..bd3336a 100644
--- a/src/loop_closure_falko.h
+++ b/src/loop_closure_falko.h
@@ -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_;
diff --git a/src/match_loop_closure.h b/src/match_loop_closure.h
index 21ce891..57fb6e8 100644
--- a/src/match_loop_closure.h
+++ b/src/match_loop_closure.h
@@ -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;
+
};
diff --git a/src/scene_falko.h b/src/scene_falko.h
index 65b7253..9d041f8 100644
--- a/src/scene_falko.h
+++ b/src/scene_falko.h
@@ -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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