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Commit e24b92e2 authored by Sergi Pujol's avatar Sergi Pujol
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added convert2LaserScanFALKO

parent 1f0390d9
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1 merge request!4Resolve "Implementation of Falko lib"
......@@ -10,7 +10,21 @@
namespace laserscanutils{
std::shared_ptr<cornerScene> loopClosureBase2d::extractScene(LaserScan &scan,LaserScanParams &scanParams){
std::shared_ptr<cornerScene> NewScene;
return NewScene;
}
/*
std::shared_ptr<falkolib::LaserScan> loopClosureBase2d::convert2LaserScanFALKO(LaserScan &scan,LaserScanParams &scanParams){
//falkolib::laserScan scanFALKO=std::make_shared<falkolib::LaserScan>(scanParams.angle_min_, scanParams.angle_max_, scan.ranges_raw_.size());
//std::make_shared<falkolib::LaserScan> scanFALKO(scanParams.angle_min_, scanParams.angle_max_, scan.ranges_raw_.size());
//std::vector<double> doubleRanges(scan.ranges_raw_.begin(), scan.ranges_raw_.end());
//scanFALKO.fromRanges(doubleRanges);
std::shared_ptr<falkolib::LaserScan> scanFALKO(scanParams.angle_min_, scanParams.angle_max_, scan.ranges_raw_.size());
return scanFALKO;
}
*/
}
\ No newline at end of file
......@@ -18,6 +18,20 @@
#include "laser_scan.h"
#include "corner_scene.h"
/**************************
* Falko includes *
**************************/
#include <falkolib/Feature/FALKO.h>
#include <falkolib/Feature/CGH.h>
#include <falkolib/Feature/BSC.h>
#include <falkolib/Feature/FALKOExtractor.h>
#include <falkolib/Feature/BSCExtractor.h>
#include <falkolib/Feature/CGHExtractor.h>
#include <falkolib/Matching/NNMatcher.h>
#include <falkolib/Matching/AHTMatcher.h>
namespace laserscanutils
{
......@@ -43,6 +57,11 @@ public:
**/
virtual std::shared_ptr<cornerScene> extractScene(LaserScan &scan,LaserScanParams &scanParams);
/** \brief Convert scans from laserscanutils::LaserScan to falkolib::LaserScan object
**/
std::shared_ptr<falkolib::LaserScan> convert2LaserScanFALKO(LaserScan &scan,LaserScanParams &scanParams);
};
} /* namespace laserscanutils */
......
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