ArLineFinder Class Reference

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

#include <ArLineFinder.h>

List of all members.

Public Member Functions
	ArLineFinder (ArRangeDevice *dev)
	Constructor.
std::map< int, ArLineFinderSegment * > *	getLines (void)
	Finds the line and returns a map of them.
void	getLinesAndSaveThem (void)
	Gets the lines, then prints them.
ArPose	getLinesTakenPose (void)
	Gets the position the last lines were gotten at.
bool	getVerbose (void)
	Whether to print verbose information about line decisions.
void	saveLast (void)
	Logs all the points and lines from the last getLines.
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	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
std::map< int, ArPose > *	myPoints
ArPose	myPoseTaken
bool	myPrinting
ArRangeDevice *	myRangeDevice
int	myValidMaxAveFromLine
int	myValidMaxDistFromLine

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Detailed Description

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

Definition at line 38 of file ArLineFinder.h.

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Member Function Documentation

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. Definition at line 544 of file ArLineFinder.cpp. References ArLog::log(). Referenced by getLinesAndSaveThem().

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

• ArLineFinder.h
• ArLineFinder.cpp

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