Change in API

Author: tizianoGuadagnino

cpp/map_closures/MapClosures.cpp

@@ -104,7 +104,9 @@ void MapClosures::MatchAndAdd(const int id, const std::vector<Eigen::Vector3d> &
                                    srrg_hbst::SplittingStrategy::SplitEven);
 }
 
-ClosureCandidate MapClosures::GetBestClosure(const int query_id) {
+ClosureCandidate MapClosures::GetBestClosure(const int query_id,
+                                             const std::vector<Eigen::Vector3d> &local_map) {
+    MatchAndAdd(query_id, local_map);
     auto compare_closure_candidates = [](ClosureCandidate a,
                                          const ClosureCandidate &b) -> ClosureCandidate {
         return a.number_of_inliers > b.number_of_inliers ? a : b;
@@ -122,7 +124,9 @@ ClosureCandidate MapClosures::GetBestClosure(const int query_id) {
     return closure;
 }
 
-std::vector<ClosureCandidate> MapClosures::GetTopKClosures(const int query_id, const int k) {
+std::vector<ClosureCandidate> MapClosures::GetTopKClosures(
+    const int query_id, const std::vector<Eigen::Vector3d> &local_map, const int k) {
+    MatchAndAdd(query_id, local_map);
     auto compare_closure_candidates = [](const ClosureCandidate &a, const ClosureCandidate &b) {
         return a.number_of_inliers >= b.number_of_inliers;
     };

cpp/map_closures/MapClosures.hpp

@@ -60,20 +60,23 @@ class MapClosures {
     explicit MapClosures(const Config &config);
     ~MapClosures() = default;
 
-    void MatchAndAdd(const int id, const std::vector<Eigen::Vector3d> &local_map);
-    ClosureCandidate GetBestClosure(const int query_id);
-    std::vector<ClosureCandidate> GetTopKClosures(const int query_id, const int k);
-    std::vector<ClosureCandidate> GetClosures(const int query_id) {
-        return GetTopKClosures(query_id, -1);
+    ClosureCandidate GetBestClosure(const int query_id,
+                                    const std::vector<Eigen::Vector3d> &local_map);
+    std::vector<ClosureCandidate> GetTopKClosures(const int query_id,
+                                                  const std::vector<Eigen::Vector3d> &local_map,
+                                                  const int k);
+    std::vector<ClosureCandidate> GetClosures(const int query_id,
+                                              const std::vector<Eigen::Vector3d> &local_map) {
+        return GetTopKClosures(query_id, local_map, -1);
     }
     const DensityMap &getDensityMapFromId(const int &map_id) const {
         return density_maps_.at(map_id);
     }
 
-private:
+protected:
     ClosureCandidate ValidateClosure(const int reference_id, const int query_id) const;
+    void MatchAndAdd(const int id, const std::vector<Eigen::Vector3d> &local_map);
 
-private:
     Config config_;
     Tree::MatchVectorMap descriptor_matches_;
     std::unordered_map<int, DensityMap> density_maps_;