Skip to content
GitLab
Explore
Sign in
Primary navigation
Search or go to…
Project
laser_scan_utils
Manage
Activity
Members
Labels
Plan
Issues
Issue boards
Milestones
Wiki
Code
Merge requests
Repository
Branches
Commits
Tags
Repository graph
Compare revisions
Build
Pipelines
Jobs
Pipeline schedules
Artifacts
Deploy
Releases
Model registry
Operate
Environments
Monitor
Incidents
Service Desk
Analyze
Value stream analytics
Contributor analytics
CI/CD analytics
Repository analytics
Model experiments
Help
Help
Support
GitLab documentation
Compare GitLab plans
Community forum
Contribute to GitLab
Provide feedback
Keyboard shortcuts
?
Snippets
Groups
Projects
Show more breadcrumbs
labrobotica
algorithms
laser_scan_utils
Commits
18d074a8
Commit
18d074a8
authored
9 years ago
by
Andreu Corominas-Murtra
Browse files
Options
Downloads
Patches
Plain Diff
Removing old commented code
parent
062059b2
No related branches found
No related tags found
No related merge requests found
Changes
3
Hide whitespace changes
Inline
Side-by-side
Showing
3 changed files
src/line_finder.cpp
+0
-36
0 additions, 36 deletions
src/line_finder.cpp
src/line_finder.h
+0
-9
0 additions, 9 deletions
src/line_finder.h
src/line_finder_hough.cpp
+0
-4
0 additions, 4 deletions
src/line_finder_hough.cpp
with
0 additions
and
49 deletions
src/line_finder.cpp
+
0
−
36
View file @
18d074a8
...
...
@@ -69,42 +69,6 @@ void LineFinder::fitLineRansac(const Eigen::MatrixXs & _points, LineSegment & _l
}
// void LineFinder::pointProjectionToLine(const Eigen::Vector3s & _line, const Eigen::Vector3s & _in_pt, Eigen::Vector3s & _out_pt) const
// {
// ScalarT a,b,c,qx,qy,dd;
//
// //inits
// a = _line(0);
// b = _line(1);
// c = _line(2);
// qx = _in_pt(0)/_in_pt(2);
// qy = _in_pt(1)/_in_pt(2);
//
// //compute point projection to line. The formula comes from frocing:
// // 1) _out_pt to lie on _lines, and f
// // 2) lines l2 through _in_pt and _out_pt perpendicular to _line -> normal vectors perpendicular
//
// if (a == 0. ) //case a=0 -> vertical line (parallel to y axis)
// {
// _out_pt(0) = _in_pt(0);
// _out_pt(1) = -c/b;
// return;
// }
//
// if ( b == 0. ) //case b=0 -> vertical line (parallel to y axis)
// {
// _out_pt(0) = -c/a;
// _out_pt(1) = _in_pt(1);
// return;
// }
//
// //general case
// dd = -(a*a + b*b); //denominator. Can't be 0 because either a or b have to be non-zero
// _out_pt(1) = (b*c + a*b*qx - a*a*qy) / dd;
// _out_pt(0) = -( c + b*_out_pt(1) ) / a;
//
// }
// unsigned int laserscanutils::LineFinder::mergeLines(std::list<LineSegment> & _line_list)
// {
// //TODO
...
...
This diff is collapsed.
Click to expand it.
src/line_finder.h
+
0
−
9
View file @
18d074a8
...
...
@@ -63,15 +63,6 @@ class LineFinder
**/
void
fitLineRansac
(
const
Eigen
::
MatrixXs
&
_points
,
LineSegment
&
_line
,
ScalarT
_error
=
0.1
)
const
;
/** \brief Computes projection of point to line
*
* Computes the projection of _in_pt to _line. Result at _out_pt
* Everything in homogeneous coordinates
* TODO: To be moved elsewhere. No reason why this methos has to be member of LineFinder
*
**/
//void pointProjectionToLine(const Eigen::Vector3s & _line, const Eigen::Vector3s & _in_pt, Eigen::Vector3s & _out_pt) const;
/** \brief Merges lines of a list
*
* Updates the input list with the merged lines
...
...
This diff is collapsed.
Click to expand it.
src/line_finder_hough.cpp
+
0
−
4
View file @
18d074a8
...
...
@@ -159,22 +159,18 @@ unsigned int LineFinderHough::findLines( const Eigen::MatrixXs & _points,
if
(
ii_max_value
<
hough_grid_rows_half
)
//theta in [0,PI/2]
{
q_pt
<<
xmin
,
ymax
,
1
;
//pointProjectionToLine(line.abc_, q_pt, p_pt);
line
.
pointProjectionToLine
(
q_pt
,
p_pt
);
line
.
point_first_
<<
p_pt
;
q_pt
<<
xmax
,
ymin
,
1
;
//pointProjectionToLine(line.abc_, q_pt, p_pt);
line
.
pointProjectionToLine
(
q_pt
,
p_pt
);
line
.
point_last_
<<
p_pt
;
}
else
//theta in [PI/2,PI]
{
q_pt
<<
xmin
,
ymin
,
1
;
//pointProjectionToLine(line.abc_, q_pt, p_pt);
line
.
pointProjectionToLine
(
q_pt
,
p_pt
);
line
.
point_first_
<<
p_pt
;
q_pt
<<
xmax
,
ymax
,
1
;
//pointProjectionToLine(line.abc_, q_pt, p_pt);
line
.
pointProjectionToLine
(
q_pt
,
p_pt
);
line
.
point_last_
<<
p_pt
;
}
...
...
This diff is collapsed.
Click to expand it.
Preview
0%
Loading
Try again
or
attach a new file
.
Cancel
You are about to add
0
people
to the discussion. Proceed with caution.
Finish editing this message first!
Save comment
Cancel
Please
register
or
sign in
to comment