CMakeLists corrected, corner_falko_demo.cpp corrected

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}

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);
-
     }
 
 }

src/corner_falko_2d.h

@@ -80,6 +80,8 @@ public:
     int matchingNumber;
 
     int scanNumber=0;
+
+    int scansExtracted=0;
 };
 
 } /* namespace laserscanutils */

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;
 
 }