ArLineFinder Class Reference

This class finds lines out of any range device with raw readings (lasers for instance) More...

#include <ArLineFinder.h>

Public Member Functions
void	addToConfig (ArConfig *config, const char *section)
	ArLineFinder (ArRangeDevice *dev)
	Constructor.
std::map< int, ArLineFinderSegment * > *	getLines (void)
	Finds the lines and returns a pointer to ArLineFinder's map of them. More...
void	getLinesAndSaveThem (void)
	Gets the lines, then prints them.
std::set< ArLineFinderSegment * >	getLinesAsSet ()
	Finds the lines, then copies pointers to them them into a new set.
ArPose	getLinesTakenPose (void)
	Gets the position the last lines were gotten at.
std::map< int, ArPose > *	getNonLinePoints (void)
	Finds the lines, but then returns a pointer to ArLineFinder's map of the points that AREN'T in lines. More...
std::set< ArPose >	getNonLinePointsAsSet ()
	Finds the lines, and then copies the points that AREN'T in the lines into a new set.
bool	getVerbose (void)
	Whether to print verbose information about line decisions.
void	saveLast (void)
	Logs all the points and lines from the last getLines. More...
void	setLineCombiningParams (int angleTol=30, int linesCloseEnough=75)
	Sets some parameters for line combining.
void	setLineCreationParams (int minLineLen=40, int minLinePoints=2)
	Sets some parameters for line creation.
void	setLineFilteringParams (int minPointsInLine=3, int minLineLength=75)
	Filter out lines smaller than this.
void	setLineValidParams (int maxDistFromLine=30, int maxAveDistFromLine=20)
	Don't let lines happen that have points not close to it.
void	setMaxDistBetweenPoints (int maxDistBetweenPoints=0)
	Sets the maximum distance between points that'll still be included in the same line.
void	setVerbose (bool verbose)
	Whether to print verbose information about line decisions.
virtual	~ArLineFinder ()
	Destructor.

Protected Member Functions
ArLineFinderSegment *	averageSegments (ArLineFinderSegment *line1, ArLineFinderSegment *line2)
bool	combineLines ()
void	fillPointsFromLaser (void)
void	filterLines ()
void	findLines (void)

Protected Attributes
int	myCombiningAngleTol
int	myCombiningLinesCloseEnough
int	myFilteringMinLineLength
int	myFilteringMinPointsInLine
bool	myFlipped
bool	myFlippedFound
std::map< int, ArLineFinderSegment * > *	myLines
int	myMakingMinLen
int	myMakingMinPoints
int	myMaxDistBetweenPoints
std::map< int, ArPose > *	myNonLinePoints
std::map< int, ArPose > *	myPoints
ArPose	myPoseTaken
bool	myPrinting
ArRangeDevice *	myRangeDevice
double	mySinMultiplier
int	myValidMaxAveFromLine
int	myValidMaxDistFromLine

Detailed Description

This class finds lines out of any range device with raw readings (lasers for instance)

Examples:

lineFinderExample.cpp.

Member Function Documentation

getLines()

std::map< int, ArLineFinderSegment * > * ArLineFinder::getLines

(

void

)

Finds the lines and returns a pointer to ArLineFinder's map of them.

Java and Python Wrappers: Not available in Java or Python wrapper libraries.

getNonLinePoints()

std::map< int, ArPose > * ArLineFinder::getNonLinePoints

(

void

)

Finds the lines, but then returns a pointer to ArLineFinder's map of the points that AREN'T in lines.

Java and Python Wrappers: Not available in Java or Python wrapper libraries.

saveLast()

void ArLineFinder::saveLast

(

void

)

Logs all the points and lines from the last getLines.

Saves the points in the "points" with all the points file in the current directory and saves the "lines" file with the final lines in the current directory.

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The documentation for this class was generated from the following files:

• ArLineFinder.h
• ArLineFinder.cpp