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Commit dc8f67ba authored by Joan Vallvé Navarro's avatar Joan Vallvé Navarro
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parents 53cc1e80 09e609a6
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......@@ -86,6 +86,8 @@ int CornerFinderInscribedAngle::findCorners( const Eigen::MatrixXs & _points, st
}
}
}
return 0;
}
......
......@@ -120,7 +120,7 @@ unsigned int LineFinderHough::findLines( const Eigen::MatrixXs & _points,
//select points supporting the cell of max value
unsigned int ipt = 0; //index over _points
unsigned int jpt = 0; //index over support_points
for (ipt = 0, subgrid_it = hough_grid_x_.begin(); ipt < _points.cols(), subgrid_it != hough_grid_x_.end(); ipt++ )
for (ipt = 0, subgrid_it = hough_grid_x_.begin(); ipt < _points.cols() || subgrid_it != hough_grid_x_.end(); ipt++ )
{
if ( subgrid_it->coeff(ii_max_value,jj_max_value) != 0 ) //point ipt hit this cell
{
......
......@@ -24,8 +24,8 @@ void LineFinderIterative::setIlfParams(const LineFinderIterativeParams & _params
ilf_params_.min_supports_ = _params.min_supports_;
}
unsigned int LineFinderIterative::findLines( const Eigen::Matrix<ScalarT, 3, Eigen::Dynamic> & _points,
std::list<laserscanutils::LineSegment> & _line_list) const
unsigned int LineFinderIterative::findLines( const Eigen::MatrixXs & _points,
std::list<laserscanutils::LineSegment> & _line_list)
{
//Find lines recursively
this->findLinesRecursive(_points, _line_list, 0, _points.cols()-1);
......
......@@ -56,7 +56,7 @@ class LineFinderIterative : public LineFinder
* Destructor
*
**/
~LineFinderIterative();
virtual ~LineFinderIterative();
/** \brief Set Iterative Line Fit tunning params
*
......@@ -78,8 +78,8 @@ class LineFinderIterative : public LineFinder
* \return Number of lines extracted.
*
*/
unsigned int findLines( const Eigen::Matrix<ScalarT, 3, Eigen::Dynamic> & _points,
std::list<laserscanutils::LineSegment> & _line_list) const;
unsigned int findLines( const Eigen::MatrixXs & _points,
std::list<laserscanutils::LineSegment> & _line_list) ;
//2nd version of findLines() required to correctly fill if end points are defined or not
unsigned int findLines( const laserscanutils::ScanSegment & _segment,
......
......@@ -27,6 +27,8 @@ unsigned int LineFinderJumpFit::findLines( const Eigen::MatrixXs & _points,
// - ordering
// - points belong to the same segment (no jumps in _points)
return 0;
}
void LineFinderJumpFit::print() const
......
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