From eeb02a1b32df49b752003dd7b6b776f17ac94cae Mon Sep 17 00:00:00 2001
From: Sergi Pujol <sergi.pujol.badell@estudiantat.upc.edu>
Date: Mon, 1 Feb 2021 11:55:01 +0100
Subject: [PATCH] CMakeLists corrected, corner_falko_demo.cpp corrected
---
src/CMakeLists.txt | 1 -
src/corner_falko_2d.cpp | 4 ++--
src/corner_falko_2d.h | 2 ++
src/examples/corner_falko_demo.cpp | 10 +++++-----
4 files changed, 9 insertions(+), 8 deletions(-)
diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
index 54c7fbd..9c9cf60 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 deebc2d..8143a7d 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 02c0474..5d90703 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 2b94b98..8ebac1e 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;
}
--
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