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labrobotica
algorithms
laser_scan_utils
Commits
667cc813
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Commit
667cc813
authored
9 years ago
by
andreucm
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Working copy on stabilizing API for line/corner finders
parent
15fcdb01
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3 changed files
src/corner_finder.cpp
+11
-0
11 additions, 0 deletions
src/corner_finder.cpp
src/corner_finder.h
+23
-4
23 additions, 4 deletions
src/corner_finder.h
src/line_finder_iterative.cpp
+1
-1
1 addition, 1 deletion
src/line_finder_iterative.cpp
with
35 additions
and
5 deletions
src/corner_finder.cpp
+
11
−
0
View file @
667cc813
...
...
@@ -13,5 +13,16 @@ CornerFinder::~CornerFinder()
}
int
CornerFinder
::
findCorners
(
const
Eigen
::
MatrixXs
&
_points
,
std
::
list
<
laserscanutils
::
CornerPoint
>
&
_corner_list
)
const
{
//to be implemented by inherited class
return
-
1
;
}
int
CornerFinder
::
findCorners
(
const
std
::
list
<
laserscanutils
::
LineSegment
>
&
_lines
,
std
::
list
<
laserscanutils
::
CornerPoint
>
&
_corner_list
)
const
{
//TODO
}
}
//namespace
This diff is collapsed.
Click to expand it.
src/corner_finder.h
+
23
−
4
View file @
667cc813
...
...
@@ -5,6 +5,7 @@
#include
"laser_scan_utils.h"
//#include "laser_scan.h"
#include
"corner_point.h"
#include
"line_segment.h"
//std
#include
<list>
...
...
@@ -35,9 +36,9 @@ class CornerFinder
**/
~
CornerFinder
();
/** \brief Find corners
. Pure virtual
. To be implemented by each inherited class
/** \brief Find corners
from points
. To be implemented by each inherited class
.
*
* Find corners from a set of
scan
s.
* Find corners from a set of
point
s.
* Returns corners as a std::list<CornerPoint>
*
* \Requires:
...
...
@@ -47,12 +48,30 @@ class CornerFinder
* \param _corner_list set of corners extracted from _points
* \return Number of corners extracted, or -1 if some error
*
* \note Not pure virtual to allow instantation of this class
*
*/
virtual
int
findCorners
(
const
Eigen
::
MatrixXs
&
_points
,
std
::
list
<
laserscanutils
::
CornerPoint
>
&
_corner_list
)
const
=
0
;
std
::
list
<
laserscanutils
::
CornerPoint
>
&
_corner_list
)
const
;
// virtual int findCorners(const laserscanutils::LaserScan & _scan,
// std::list<laserscanutils::CornerPoint> & _corner_list) = 0;
/** \brief Find corners from lines.
*
* Find corners from a set of lines.
* Returns corners as a std::list<CornerPoint>
*
* \Requires:
* \param _lines: List of input lines
*
* \Provides:
* \param _corner_list set of corners extracted from _lines
* \return Number of corners extracted, or -1 if some error
*
*/
virtual
int
findCorners
(
const
std
::
list
<
laserscanutils
::
LineSegment
>
&
_lines
,
std
::
list
<
laserscanutils
::
CornerPoint
>
&
_corner_list
)
const
;
/** \brief Print things
*
* Print things about this class
...
...
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Click to expand it.
src/line_finder_iterative.cpp
+
1
−
1
View file @
667cc813
...
...
@@ -57,7 +57,7 @@ unsigned int LineFinderIterative::findLines( const Eigen::MatrixXs & _points, st
//split _points into two subsets and call findLines again for each one, if enough points in the subset
if
(
max_ii
>=
ilf_params_
.
min_supports_
)
{
this
->
findLines
(
_points
.
block
(
0
,
0
,
3
,
max_ii
),
_line_list
);
this
->
findLines
(
_points
.
block
(
0
,
0
,
3
,
max_ii
+
1
),
_line_list
);
}
if
(
_points
.
cols
()
-
max_ii
>=
ilf_params_
.
min_supports_
)
{
...
...
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