Skip to content
Snippets Groups Projects
Commit ed840a59 authored by Sergi Pujol's avatar Sergi Pujol
Browse files

added scene_base

parent 8c173a88
No related branches found
No related tags found
1 merge request!4Resolve "Implementation of Falko lib"
...@@ -57,6 +57,7 @@ SET(HDRS ...@@ -57,6 +57,7 @@ SET(HDRS
polyline.h polyline.h
scan_segment.h scan_segment.h
loop_closure_base_2d.h loop_closure_base_2d.h
scene_base.h
) )
IF(csm_FOUND) IF(csm_FOUND)
SET(HDRS ${HDRS} SET(HDRS ${HDRS}
...@@ -97,8 +98,7 @@ SET(SRCS ...@@ -97,8 +98,7 @@ SET(SRCS
IF(falkolib_FOUND) IF(falkolib_FOUND)
SET(SRCS ${SRCS} SET(SRCS ${SRCS}
corner_falko_2d.cpp corner_falko_2d.cpp
loop_closure_falko.cpp loop_closure_falko.cpp)
corner_scene.cpp)
ENDIF(falkolib_FOUND) ENDIF(falkolib_FOUND)
......
...@@ -27,7 +27,7 @@ namespace laserscanutils{ ...@@ -27,7 +27,7 @@ namespace laserscanutils{
setGridSectors(16); setGridSectors(16);
// Matcher Extractor Parameters // Matcher Extractor Parameters
//matcher.setDistanceThreshold(0.1); matcher_.setDistanceThreshold(0.1);
} }
...@@ -44,10 +44,7 @@ namespace laserscanutils{ ...@@ -44,10 +44,7 @@ namespace laserscanutils{
extract((*scanFALKO), (newScene->keypointsList)); extract((*scanFALKO), (newScene->keypointsList));
// Compute descriptors // Compute descriptors
//loopClosureFalko<D,Extr,M>::extractor:
extractor_.compute(*scanFALKO,newScene->keypointsList, newScene->descriptorsList); 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; return newScene;
} }
......
/**
* \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_ */
/**
* \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_ */
...@@ -56,10 +56,6 @@ TEST(loop_closure_base_2d, convert2laserScanFalko) ...@@ -56,10 +56,6 @@ TEST(loop_closure_base_2d, convert2laserScanFalko)
int firstPoint = ((*scanFALKO).ranges)[0]; int firstPoint = ((*scanFALKO).ranges)[0];
EXPECT_FALSE(false);
ASSERT_TRUE(true);
ASSERT_EQ(firstPoint, 250); ASSERT_EQ(firstPoint, 250);
// PRINTF("All good at TestTest::DummyTestExample !\n"); // PRINTF("All good at TestTest::DummyTestExample !\n");
......
0% Loading or .
You are about to add 0 people to the discussion. Proceed with caution.
Finish editing this message first!
Please register or to comment