Just starting to tune again, with some comments

src/entities.cpp

@@ -12,9 +12,9 @@ void laserscanutils::Line::print() const
 //               << "   first,last: " << first_ << " , " << last_ << std::endl
 //               << "   first point: " << point_first_.transpose() << std::endl
 //               << "   last point: " << point_last_.transpose() << std::endl
-              << "   number of points: " << np_ << std::endl
-              << "   range: " << range_ << std::endl
-              << "   theta: " << theta_ << std::endl;
+              << "\tnumber of points: " << np_ << std::endl
+              << "\trange: " << range_ << std::endl
+              << "\ttheta: " << theta_ << std::endl;
 }
 
 float laserscanutils::Line::length()

src/entities.h

@@ -5,24 +5,30 @@
 //laserscanutils
 #include "laser_scan_utils.h"
 
+//std 
 #include <iostream>
 #include <list>
 
-//TODO: .cpp with print() functions per each entity
 namespace laserscanutils
 {
+    /** \brief Line entity represents straight segments on the plane
+     * 
+     * Line entity represents straight segments on the plane
+     * Several parameterizations can coexist, but no coherency check between them is performed. 
+     * Not all parameterizations are required. 
+     * 
+     **/
     struct Line
     {
-        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
+        Eigen::Vector3s vector_; //homogeneous parameterization of the line: (a,b,c)^T -> ax+by+c=0 TODO: rename to abc_
+        unsigned int first_; //corresponding index to the scan ranges of the first point used TODO: rename to idx_first_
+        unsigned int last_; //corresponding index to the scan ranges of the last point used TODO: rename to idx_last_
+        ScalarT error_; //sum of all distances from used points to line when fitting
         Eigen::Vector3s point_first_; //homogeneous coordinates of the starting 2D point
         Eigen::Vector3s point_last_; //homogeneous coordinates of the ending 2D point
-        unsigned int np_; // number of points of the line
-        double range_; //range component in polar coordinates
-        double theta_; //theta component in polar coordinates
-        //TODO: add an Eigen::Map to the supporting points ... but who ensures memory allocation of such points ???
+        unsigned int np_; // number of scan points supporting this line (through fitting, Hough voting, ...)
+        ScalarT range_; //range component in polar parameterization.
+        ScalarT theta_; //theta component in polar parameterization.
 
         //just a print method
         void print() const;

src/line_detector.cpp

@@ -204,8 +204,8 @@ unsigned int laserscanutils::extractLines(const laserscanutils::ScanParams & _pa
 }
 
 
-unsigned int laserscanutils::extractLinesHough( const std::vector<Eigen::MatrixXd> & _laser_cloud,
-                                                const ExtractLineParamsHough & _alg_params, 
+unsigned int laserscanutils::extractLinesHough( const std::vector<Eigen::MatrixXd> & _points,
+                                                const ExtractLinesHoughParams & _alg_params, 
                                                 std::list<laserscanutils::Line> & _line_list )
 {
     double theta, range; 

src/line_detector.h

@@ -14,7 +14,7 @@ namespace laserscanutils
      * Set of tunning parameters for line extraction
      * 
      */
-    struct ExtractLineParams
+    struct ExtractLineParams //TODO rename to ExtractLinesParams
     {
         //members
         ScalarT jump_dist_ut_; //Upper threshold in consecutive ranges to consider a jump
@@ -34,7 +34,7 @@ namespace laserscanutils
      * set of tunning parameters for the Hough transform line detection
      * 
      **/
-    struct ExtractLineParamsHough
+    struct ExtractLinesHoughParams
     {
         double range_max_; //maximum allowed range for lines
         double range_step_; //range step in the voting grid
@@ -45,7 +45,11 @@ namespace laserscanutils
     /** \brief Find the best fittig line given a set of points
      * 
      * Find the best fittig line given a set of points
-     * Input points at each column of _points matrix
+     * \requires
+     * \param _points: 3xN matrix, set of points. Each column is a 2D point in homogeneous (x,y,1).
+     * 
+     * \provides
+     * \param _line: a laserscanutils::Line object of the best fitting line in the Least Squares sense
      * 
      **/
     void fitLine(const Eigen::MatrixXs & _points, Line & _line);
@@ -79,11 +83,8 @@ namespace laserscanutils
      * 
      *
      */
-//     unsigned int extractLinesHough(const std::list<std::pair<laserscanutils::ScanParams,const std::vector<float> > > _laser_data,
-//                               const ExtractLineParamsHough & _alg_params, 
-//                               std::list<laserscanutils::Line> & _line_list);
-    unsigned int extractLinesHough( const std::vector<Eigen::MatrixXd> & _laser_cloud,
-                                    const ExtractLineParamsHough & _alg_params, 
+    unsigned int extractLinesHough( const std::vector<Eigen::MatrixXd> & _points,
+                                    const ExtractLinesHoughParams & _alg_params, 
                                     std::list<laserscanutils::Line> & _line_list);