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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: ...@@ -52,7 +52,7 @@ private:
public: public:
typedef std::shared_ptr<sceneFalko<D>> sceneFalkoBSCPtr; typedef std::shared_ptr<sceneFalko<D>> sceneFalkoBSCPtr;
typedef std::shared_ptr<matchLoopClosure> matchLoopClosurePtr; typedef std::shared_ptr<matchLoopClosure<D>> matchLoopClosurePtr;
Extr extractor_; Extr extractor_;
M matcher_; M matcher_;
......
...@@ -10,14 +10,26 @@ ...@@ -10,14 +10,26 @@
#include <iostream> #include <iostream>
#include <fstream> #include <fstream>
#include <memory>
/**************************
* laser_scan_utils includes *
**************************/
#include "scene_falko.h"
namespace laserscanutils namespace laserscanutils
{ {
template <typename D>
struct matchLoopClosure{ struct matchLoopClosure{
//std::vector<falkolib::FALKO> keypointsList; //std::shared_ptr<sceneFalko<D>> scene1;
//std::vector<D> descriptorsList; //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{ ...@@ -40,7 +40,7 @@ struct sceneFalko : public sceneBase{
std::vector<D> descriptorsList; std::vector<D> descriptorsList;
}; };
typedef std::shared_ptr<sceneFalko<falkolib::BSC>> sceneFalkoBSCPtr;
} /* namespace laserscanutils */ } /* namespace laserscanutils */
......
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