From ed840a595bfa02bc3546e255ada9ea2d801a7eb1 Mon Sep 17 00:00:00 2001
From: Sergi Pujol <sergi.pujol.badell@estudiantat.upc.edu>
Date: Mon, 15 Feb 2021 12:14:35 +0100
Subject: [PATCH] added scene_base

---
 src/CMakeLists.txt                  |  4 +--
 src/corner_scene.cpp                |  0
 src/loop_closure_falko.cpp          |  5 +--
 src/scene_base.h                    | 26 ++++++++++++++++
 src/scene_falko.h                   | 48 +++++++++++++++++++++++++++++
 test/gtest_loop_closure_base_2d.cpp |  4 ---
 6 files changed, 77 insertions(+), 10 deletions(-)
 delete mode 100644 src/corner_scene.cpp
 create mode 100644 src/scene_base.h
 create mode 100644 src/scene_falko.h

diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
index 3860988..ea63227 100644
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@@ -57,6 +57,7 @@ SET(HDRS
     polyline.h
     scan_segment.h
     loop_closure_base_2d.h
+    scene_base.h
     )
   IF(csm_FOUND)
     SET(HDRS ${HDRS}
@@ -97,8 +98,7 @@ SET(SRCS
   IF(falkolib_FOUND)
     SET(SRCS ${SRCS}
       corner_falko_2d.cpp
-      loop_closure_falko.cpp
-      corner_scene.cpp)
+      loop_closure_falko.cpp)
   ENDIF(falkolib_FOUND)
 
 
diff --git a/src/corner_scene.cpp b/src/corner_scene.cpp
deleted file mode 100644
index e69de29..0000000
diff --git a/src/loop_closure_falko.cpp b/src/loop_closure_falko.cpp
index caf5518..5e36326 100644
--- a/src/loop_closure_falko.cpp
+++ b/src/loop_closure_falko.cpp
@@ -27,7 +27,7 @@ namespace laserscanutils{
         setGridSectors(16);
 
         // Matcher Extractor Parameters
-        //matcher.setDistanceThreshold(0.1);
+        matcher_.setDistanceThreshold(0.1);
 
     }
 
@@ -44,10 +44,7 @@ namespace laserscanutils{
         extract((*scanFALKO), (newScene->keypointsList));
 
         // Compute descriptors
-        //loopClosureFalko<D,Extr,M>::extractor:
         extractor_.compute(*scanFALKO,newScene->keypointsList, newScene->descriptorsList);
-        //extractor.compute((*scanFALKO),((*newScene).keypointsList), ((*newScene).descriptorsList));
-        //loopClosureFalko<D,Extr,M>::extractor::compute((*scanFALKO),((*newScene).keypointsList), ((*newScene).descriptorsList));
         return newScene;
     }
 
diff --git a/src/scene_base.h b/src/scene_base.h
new file mode 100644
index 0000000..4be0f75
--- /dev/null
+++ b/src/scene_base.h
@@ -0,0 +1,26 @@
+/**
+ * \file scene_base.h
+ *
+ *  Created on: Feb 9, 2021
+ *      \author: spujol
+ */
+
+#ifndef SCENE_BASE_H_
+#define SCENE_BASE_H_
+
+#include <iostream>
+#include <fstream>
+
+
+namespace laserscanutils
+{
+
+struct sceneBase{
+    //std::vector<falkolib::FALKO> keypointsList;
+    //std::vector<D> descriptorsList;
+};
+
+
+} /* namespace laserscanutils */
+
+#endif /* SCENE_BASE_H_ */
diff --git a/src/scene_falko.h b/src/scene_falko.h
new file mode 100644
index 0000000..a7da9e1
--- /dev/null
+++ b/src/scene_falko.h
@@ -0,0 +1,48 @@
+/**
+ * \file scene_falko.h
+ *
+ *  Created on: Feb 9, 2021
+ *      \author: spujol
+ */
+
+#ifndef SCENE_FALKO_H_
+#define SCENE_FALKO_H_
+
+#include <iostream>
+#include <fstream>
+
+/**************************
+ *      LaserScanUtils includes      *
+ **************************/
+#inlcude "sceneBase.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
+{
+
+template <typename D>
+struct sceneFalko : sceneBase{
+    std::vector<falkolib::FALKO> keypointsList;
+    std::vector<D> descriptorsList;
+};
+
+typedef std::shared_ptr<cornerScene<falkolib::BSC>> sceneFalkoBSCPtr;
+
+
+} /* namespace laserscanutils */
+
+#endif /* SCENE_FALKO_H_ */
diff --git a/test/gtest_loop_closure_base_2d.cpp b/test/gtest_loop_closure_base_2d.cpp
index 66aca01..b343922 100644
--- a/test/gtest_loop_closure_base_2d.cpp
+++ b/test/gtest_loop_closure_base_2d.cpp
@@ -56,10 +56,6 @@ TEST(loop_closure_base_2d, convert2laserScanFalko)
 
   int firstPoint = ((*scanFALKO).ranges)[0];
 
-  EXPECT_FALSE(false);
-
-  ASSERT_TRUE(true);
-
   ASSERT_EQ(firstPoint, 250);
 
 //  PRINTF("All good at TestTest::DummyTestExample !\n");
-- 
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