From d6684c06b4f820e0eacd5a48659c59b874d59be1 Mon Sep 17 00:00:00 2001
From: andreucm <acoromin@iri.upc.edu>
Date: Mon, 15 Feb 2016 17:03:57 +0100
Subject: [PATCH] Just starting to tune again, with some comments
---
src/entities.cpp | 6 +++---
src/entities.h | 24 +++++++++++++++---------
src/line_detector.cpp | 4 ++--
src/line_detector.h | 17 +++++++++--------
4 files changed, 29 insertions(+), 22 deletions(-)
diff --git a/src/entities.cpp b/src/entities.cpp
index da6d3d3..a4a1faf 100644
--- a/src/entities.cpp
+++ b/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()
diff --git a/src/entities.h b/src/entities.h
index 1917aa2..fc72d81 100644
--- a/src/entities.h
+++ b/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;
diff --git a/src/line_detector.cpp b/src/line_detector.cpp
index 650930c..a371203 100644
--- a/src/line_detector.cpp
+++ b/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;
diff --git a/src/line_detector.h b/src/line_detector.h
index 6fb88ab..c2af976 100644
--- a/src/line_detector.h
+++ b/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);
--
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