diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt index 54c7fbd2d7756345d22d80b5715fc9215a3b2d79..9c9cf6065e50be5bed8488c24b7314f0cae060a8 100644 --- a/src/CMakeLists.txt +++ b/src/CMakeLists.txt @@ -55,7 +55,6 @@ SET(HDRS point_set.h polyline.h scan_segment.h - corner_falko_2d.h ) IF(csm_FOUND) SET(HDRS ${HDRS} diff --git a/src/corner_falko_2d.cpp b/src/corner_falko_2d.cpp index deebc2d5ffce8adef760fc9175a2745dc69182f7..8143a7d30cafa4998fc0328bec232b743cc182e1 100644 --- a/src/corner_falko_2d.cpp +++ b/src/corner_falko_2d.cpp @@ -19,6 +19,7 @@ CornerFalko2d::CornerFalko2d(int _circularSectorNumber, int _radialRingNumber, b setBRatio(4); setGridSectors(16); + } CornerFalko2d::~CornerFalko2d() @@ -42,7 +43,7 @@ void CornerFalko2d::storeCorners (falkolib::LaserScan scan, int scanInterval){ keypointSets.push_back(lastKeypointSet); descriptorSets.push_back(lastDescriptorSet); - std::cout << "sizeof : " << lastKeypointSet.size() << std::endl; + scansExtracted=scansExtracted+1; } @@ -65,7 +66,6 @@ void CornerFalko2d::findLoopClosure(falkolib::LaserScan scan){ setDistanceThreshold(0.1); std::vector<std::pair<int, int> > assoNN; matchingNumber = match(keypointSets[i], keypointSet2, assoNN); - } } diff --git a/src/corner_falko_2d.h b/src/corner_falko_2d.h index 02c0474081b9625db69a07453f5cd44e35d01fde..5d907030b77b5bde3794f8b60b041ac0cc803c1a 100644 --- a/src/corner_falko_2d.h +++ b/src/corner_falko_2d.h @@ -80,6 +80,8 @@ public: int matchingNumber; int scanNumber=0; + + int scansExtracted=0; }; } /* namespace laserscanutils */ diff --git a/src/examples/corner_falko_demo.cpp b/src/examples/corner_falko_demo.cpp index 2b94b984ff5055dd53a605463bd410cfeaba4803..8ebac1ea71f0e2c592459bf24e5d83318514c4f1 100644 --- a/src/examples/corner_falko_demo.cpp +++ b/src/examples/corner_falko_demo.cpp @@ -27,14 +27,14 @@ int main(int argc, char** argv) scan1.fromRanges(testRanges1); - CornerFalko2d CornerMatching; + CornerFalko2d cornerMatching; - CornerMatching.storeCorners(scan1, scanInterval); + cornerMatching.storeCorners(scan1, scanInterval); - std::cout << "num keypoints1 extracted: " << CornerMatching.lastKeypointSet.size() << std::endl; + std::cout << "num keypoints1 extracted: " << cornerMatching.lastKeypointSet.size() << std::endl; - CornerMatching.findLoopClosure(scan1); + cornerMatching.findLoopClosure(scan1); - std::cout << "matching number : " << CornerMatching.matchingNumber << std::endl; + std::cout << "matching number : " << cornerMatching.matchingNumber << std::endl; }