There are detected line segments in input array of measured data (laser_scan) by using perpendicular line regression. More...
#include <shape_detect.h>
Classes | |
| struct | Arc |
| Arc defined by TODO. More... | |
| struct | arc_debug |
| struct | General_form |
| General equation of line -> Ax + By + C = 0. More... | |
| struct | Line |
| Line defined by two points which are expressed in cartesian coordinates. More... | |
| struct | Point |
| Point expressed in cartesian coordinates. More... | |
Public Member Functions | |
| Shape_detect (void) | |
| The constructor with default setting of detection properties (for Hokuyo). | |
| Shape_detect (int line_min_points, int line_error_threshold, int max_distance_point, float radius, float scale, int arc_min_points, int arc_max_distance) | |
| The constructor for other setting than default setting of detection properties. | |
| void | prepare (const unsigned short laser_scan[]) |
| TODO. | |
| std::vector< Point > & | getCartes () |
| Returns laser_scan data set by prepare converted to cartesian coordinates. | |
| void | line_detect (std::vector< Line > &lines) |
| There are detected line segments in input array of measured data by using perpendicular line regression. | |
| void | arc_detect (std::vector< Arc > &arcs) |
| There are detected line segments in input array of measured data. | |
| std::vector< Arc > | arcs_compare (std::vector< Arc > &first, std::vector< Arc > &second, int eps) |
| Is uset for comparing of two detected arcs vectors. | |
There are detected line segments in input array of measured data (laser_scan) by using perpendicular line regression.
The output is formed by vector of type Line (so detected segment line - coordinates endpoints).
1.7.1