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Shashank Suhas
Seminar-HFO
Commits
94c1d9a3
Commit
94c1d9a3
authored
Aug 04, 2015
by
Matthew Hausknecht
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Fixed bug in open angle detection.
parent
41359ca4
Changes
1
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4 additions
and
4 deletions
+4
-4
src/feature_extractor.cpp
src/feature_extractor.cpp
+4
-4
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src/feature_extractor.cpp
View file @
94c1d9a3
...
...
@@ -209,7 +209,7 @@ float FeatureExtractor::calcLargestOpenAngle(const rcsc::WorldModel &wm,
//float oppAngleTop = oppAngle;
float
oppAngleBottom
=
oppAngle
-
halfWidthAngle
;
float
oppAngleTop
=
oppAngle
+
halfWidthAngle
;
//std::cout << " to split? " << oppDist << " " << maxDist << std::endl;
//
std::cout << " to split? " << oppDist << " " << maxDist << std::endl;
if
(
oppDist
<
maxDist
)
{
splitAngles
(
openAngles
,
oppAngleBottom
,
oppAngleTop
);
}
...
...
@@ -218,7 +218,7 @@ float FeatureExtractor::calcLargestOpenAngle(const rcsc::WorldModel &wm,
float
largestOpening
=
0
;
for
(
uint
i
=
0
;
i
<
openAngles
.
size
();
++
i
)
{
OpenAngle
&
open
=
openAngles
[
i
];
//std::cout << " opening: " << RAD_T_DEG * open.first << " " << RAD_T_DEG * open.second << std::endl;
//
std::cout << " opening: " << RAD_T_DEG * open.first << " " << RAD_T_DEG * open.second << std::endl;
float
opening
=
open
.
second
-
open
.
first
;
if
(
opening
>
largestOpening
)
{
largestOpening
=
opening
;
...
...
@@ -230,8 +230,8 @@ float FeatureExtractor::calcLargestOpenAngle(const rcsc::WorldModel &wm,
void
FeatureExtractor
::
splitAngles
(
std
::
vector
<
OpenAngle
>
&
openAngles
,
float
oppAngleBottom
,
float
oppAngleTop
)
{
std
::
vector
<
OpenAngle
>
resAngles
;
for
(
uint
i
=
0
;
i
<
res
Angles
.
size
();
++
i
)
{
OpenAngle
&
open
=
res
Angles
[
i
];
for
(
uint
i
=
0
;
i
<
open
Angles
.
size
();
++
i
)
{
OpenAngle
&
open
=
open
Angles
[
i
];
if
((
oppAngleTop
<
open
.
first
)
||
(
oppAngleBottom
>
open
.
second
))
{
resAngles
.
push_back
(
open
);
}
else
{
...
...
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