From 4db8bd9ce417bf3ccbd1c1ce953f115685566384 Mon Sep 17 00:00:00 2001
From: acoromin <acoromin@224674b8-e365-4e73-a4a8-558dbbfec58c>
Date: Wed, 10 Feb 2016 14:00:46 +0000
Subject: [PATCH] Working version. Filling start and end points to Hough lines.
Not yet tested.
---
src/line_detector.cpp | 7 ++++---
1 file changed, 4 insertions(+), 3 deletions(-)
diff --git a/src/line_detector.cpp b/src/line_detector.cpp
index f674add..acc8164 100644
--- a/src/line_detector.cpp
+++ b/src/line_detector.cpp
@@ -211,11 +211,12 @@ unsigned int laserscanutils::extractLinesHough( const std::vector<Eigen::MatrixX
double theta, range;
int kr;
Line line;
+ double xmax, xmin, ymax, ymin;
//A 2D array of lists. Each cell is a (r,theta) discretization in the line parameter space.
//Each list keeps the laser point coordinates that support that cell
std::vector<std::vector<std::list<std::pair<double,double> > > > hough_grid;
- std::list<std::pair<double,double>::iterator pt_it; //iterator over the points of a given cell list
+ std::list<std::pair<double,double> >::iterator pt_it; //iterator over the points of a given cell list
//clear line list
_line_list.clear();
@@ -279,8 +280,8 @@ unsigned int laserscanutils::extractLinesHough( const std::vector<Eigen::MatrixX
//set the limiting points of the line
if (ii < hough_grid_rows_half) //first and third quartile
{
- line.point_first_ << ,,1;
- line.point_last_ << ,,1;
+// line.point_first_ << ,,1;
+// line.point_last_ << ,,1;
}
else //second and fourth quartile
--
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