Detect orthogonal lines using RANSAC #1314
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einmal mit kalibrierter Kamera testen |
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Why? What?
This PR implements detecting orthogonal lines in the field using RANSAC. This improves the placement of line segments near corners.
Depends on #1334.
ToDo / Known Issues
ransac_iterationsshould be increased.Ideas for Next Iterations (Not This PR)
How to Test
Enable recording and upload to a NAO. Watch the replay and have a look at the image panel with the line detection overlay enabled. The green lines show the fitted orthogonal lines, the red ones the fitted lines. Note that only the blue lines are the extracted line segments used for localization.