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labrobotica
algorithms
laser_scan_utils
Commits
b8dc546e
Commit
b8dc546e
authored
10 years ago
by
jvallve
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several modifications and bugs fixed
parent
967adc83
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4 changed files
src/corner_detector.cpp
+155
-154
155 additions, 154 deletions
src/corner_detector.cpp
src/corner_detector.h
+7
-0
7 additions, 0 deletions
src/corner_detector.h
src/entities.h
+1
-1
1 addition, 1 deletion
src/entities.h
src/scan_basics.cpp
+1
-2
1 addition, 2 deletions
src/scan_basics.cpp
with
164 additions
and
157 deletions
src/corner_detector.cpp
+
155
−
154
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b8dc546e
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src/corner_detector.h
+
7
−
0
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b8dc546e
...
...
@@ -89,6 +89,13 @@ namespace laserscanutils
* A return angle in [0,2pi]
**/
ScalarT
cornerAperture
(
const
Eigen
::
Vector3s
&
_p1
,
const
Eigen
::
Vector3s
&
_c
,
const
Eigen
::
Vector3s
&
_p2
);
/** \brief Returns the angle between two lines
*
* Returns the angle between two lines
*
*/
ScalarT
angleBetweenLines
(
const
laserscanutils
::
Line
&
line1
,
const
laserscanutils
::
Line
&
line2
);
}
#endif
This diff is collapsed.
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src/entities.h
+
1
−
1
View file @
b8dc546e
...
...
@@ -13,7 +13,7 @@ namespace laserscanutils
Eigen
::
Vector3s
vector_
;
//homogeneous parameterization of the line: (a,b,c)^T -> ax+by+c=0
ScalarT
error_
;
//sum of all distances from used points to line
unsigned
int
first_
;
//index of the range vector of the first point used
unsigned
int
last_
;
//index of the range vector of the last point used
unsigned
int
last_
;
//index of the range vector of the last point used
Eigen
::
Vector3s
point_first_
;
//homogeneous parameterization of the line: (a,b,c)^T -> ax+by+c=0
Eigen
::
Vector3s
point_last_
;
//homogeneous parameterization of the line: (a,b,c)^T -> ax+by+c=0
unsigned
int
np_
;
// number of points of the line
...
...
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src/scan_basics.cpp
+
1
−
2
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b8dc546e
...
...
@@ -51,7 +51,6 @@ Eigen::MatrixXs laserscanutils::laserPolar2xy(const ScanParams & _params, std::v
Eigen
::
MatrixXs
laserscanutils
::
laserPolar2xy
(
const
ScanParams
&
_params
,
const
std
::
vector
<
float
>
&
_ranges
,
const
ScalarT
&
_jump_theshold
,
std
::
queue
<
unsigned
int
>
&
jumps_id_
)
{
while
(
!
jumps_id_
.
empty
())
...
...
@@ -72,7 +71,7 @@ Eigen::MatrixXs laserscanutils::laserPolar2xy(const ScanParams & _params, const
points
.
push_back
(
1
);
if
(
prev_range
!=-
1
&&
fabs
(
_ranges
[
i
]
-
prev_range
)
>
_jump_theshold
)
jumps_id_
.
push
(
i
);
jumps_id_
.
push
(
points
.
size
()
/
3
);
prev_range
=
_ranges
[
i
];
}
...
...
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