Resolve "Implementation of Falko lib"

Closes #26 (closed)

src/loop_closure_falko.h

@@ -47,22 +47,22 @@ 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;
+  // Keypoints extractor Default
+  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 Default
+  int circularSectorNumber_ = 16;
+  int radialRingNumber_ = 8;
+
+  //matcher threshold Default
+  double matcher_distance_th_=0.1;
+  int keypoints_number_th_ = 5;
 };
 
 /** \brief A base class for loop closure using falko library
@@ -82,21 +82,21 @@ public:
 
   /** \brief Constructor
   **/
-  loopClosureFalko(parameterLoopClosureFalko param)
+  loopClosureFalko(parameterLoopClosureFalko _param)
   : loopClosureBase2d(), falkolib::FALKOExtractor(),
-    extractor_(param._circularSectorNumber, param._radialRingNumber), matcher_() {
+    extractor_(_param.circularSectorNumber_, _param.radialRingNumber_), matcher_() {
   // FALKO Extractor Parameters
-  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);
+  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(param.matcher_distance_th);
-  keypoints_number_th = param.keypoints_number_th;
+  matcher_.setDistanceThreshold(_param.matcher_distance_th_);
+  keypoints_number_th_ = _param.keypoints_number_th_;
 };
 
   /** \brief Destructor
@@ -139,7 +139,7 @@ public:
       matcher_.match(_scene1->keypointsList, _scene2->keypointsList, asso_nn);
     auto new_match = std::make_shared<matchLoopClosure<D>>();
     new_match->keypointsNumberMatch = matching_number;
-    if (matching_number > keypoints_number_th) {
+    if (matching_number > keypoints_number_th_) {
       new_match->match = true;
     } else {
       new_match->match = false;
@@ -165,7 +165,7 @@ public:
     return matchings;
   }
 
-  int keypoints_number_th;
+  int keypoints_number_th_;
     
 };
 } /* namespace laserscanutils */