Resolve "Implementation of Falko lib"

Closes #26 (closed)

src/loop_closure_falko.h

@@ -46,6 +46,25 @@ typedef falkolib::CGH cgh;
 typedef falkolib::CGHExtractor<falkolib::FALKO> cghExtractor;
 typedef falkolib::AHTMatcher<falkolib::FALKO> AHTatcher;
 
+struct parameterLoopClosureFalko {
+  // Keypoints extractor
+  double _min_extraction_range=0.1;
+  double _max_extraction_range=25;
+  bool _enable_subbeam=true;
+  double _nms_radius=0.1;
+  double _neigh_b=0.01;
+  double _b_ratio=4;
+  int _grid_sectors=16;
+
+  //Descriptors parameters
+  int _circularSectorNumber = 16;
+  int _radialRingNumber = 8;
+
+  //matcher threshold
+  double matcher_distance_th=0.1;
+  int keypoints_number_th = 5;
+};
+
 /** \brief A base class for loop closure using falko library
 **/
 
@@ -63,20 +82,21 @@ public:
 
   /** \brief Constructor
   **/
-  loopClosureFalko(int _circularSectorNumber = 16, int _radialRingNumber = 8)
+  loopClosureFalko(parameterLoopClosureFalko param)
   : loopClosureBase2d(), falkolib::FALKOExtractor(),
-    extractor_(_circularSectorNumber, _radialRingNumber), matcher_() {
+    extractor_(param._circularSectorNumber, param._radialRingNumber), matcher_() {
   // FALKO Extractor Parameters
-  setMinExtractionRange(0.1);
-  setMaxExtractionRange(25);
-  enableSubbeam(true);
-  setNMSRadius(0.1);
-  setNeighB(0.01);
-  setBRatio(4);
-  setGridSectors(16);
+  setMinExtractionRange(param._min_extraction_range);
+  setMaxExtractionRange(param._max_extraction_range);
+  enableSubbeam(param._enable_subbeam);
+  setNMSRadius(param._nms_radius);
+  setNeighB(param._neigh_b);
+  setBRatio(param._b_ratio);
+  setGridSectors(param._grid_sectors);
 
   // Matcher Extractor Parameters
-  matcher_.setDistanceThreshold(0.1);
+  matcher_.setDistanceThreshold(param.matcher_distance_th);
+  keypoints_number_th = param.keypoints_number_th;
 };
 
   /** \brief Destructor
@@ -100,13 +120,13 @@ public:
   /** \brief Convert scans from laserscanutils::LaserScan to
     *falkolib::LaserScan object
    **/
- laserScanPtr convert2LaserScanFALKO(LaserScan &scan, LaserScanParams &scanParams) {
-  auto scanFALKO = std::make_shared<falkolib::LaserScan>(
-    scanParams.angle_min_, scanParams.angle_max_, scan.ranges_raw_.size());
-  std::vector<double> doubleRanges(scan.ranges_raw_.begin(),
-                                   scan.ranges_raw_.end());
-  ((*scanFALKO).fromRanges)(doubleRanges);
-  return scanFALKO;
+ laserScanPtr convert2LaserScanFALKO(LaserScan &_scan, LaserScanParams &_scan_params) {
+  auto scan_falko = std::make_shared<falkolib::LaserScan>(
+    _scan_params.angle_min_, _scan_params.angle_max_, _scan.ranges_raw_.size());
+  std::vector<double> double_ranges(_scan.ranges_raw_.begin(),
+                                   _scan.ranges_raw_.end());
+  scan_falko->fromRanges(double_ranges);
+  return scan_falko;
 };
 
   /** \brief Create and update a matchLoopClosure struct with the info that is
@@ -119,7 +139,6 @@ public:
       matcher_.match(scene1->keypointsList, scene2->keypointsList, assoNN);
     auto new_match = std::make_shared<matchLoopClosure<D>>();
     new_match->keypointsNumberMatch = matching_number;
-    int keypoints_number_th = 5;
     if (matching_number > keypoints_number_th) {
       new_match->match = true;
     } else {
@@ -145,6 +164,9 @@ public:
     }
     return matchings;
   }
+
+  int keypoints_number_th;
+    
 };
 } /* namespace laserscanutils */