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fix potential segfault due to pointer reference and add ability to set max_norm explicitly #3

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fix potential segfault due to pointer reference and add ability to set max_norm explicitly #3

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2844e8c
fix potential segfault due to pointer reference
deeptoaster Jul 31, 2023
05b988a
add ability to set max_norm explicitly
deeptoaster Jul 31, 2023
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2 changes: 1 addition & 1 deletion include/3d_line_detection/HoughTransform.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -36,7 +36,7 @@ template <typename POINT_CLOUD_TYPE> class HoughTransform

explicit HoughTransform(const Param& param);

LineSegment3Ds run(const PointCloudPtr& cloud);
LineSegment3Ds run(const PointCloudPtr& cloud, float maxNorm = 0);

private:
int getLine(pcl::ModelCoefficients& coeffs, const float minRange, const float deltaRange,
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2 changes: 1 addition & 1 deletion include/3d_line_detection/LineSegment3D.hpp
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Expand Up @@ -60,7 +60,7 @@ template <typename POINT_CLOUD_TYPE> class LineSegment3D
}

private:
const PointCloudPtr& m_cloud;
const PointCloudPtr m_cloud;
pcl::ModelCoefficients m_coeffs;
std::vector<int> m_inlierIndices;
};
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8 changes: 6 additions & 2 deletions include/3d_line_detection/impl/HoughTransform.ipp
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Expand Up @@ -80,13 +80,17 @@ int HoughTransform<POINT_CLOUD_TYPE>::getLine(pcl::ModelCoefficients& coeffs, co

template <typename POINT_CLOUD_TYPE>
typename HoughTransform<POINT_CLOUD_TYPE>::LineSegment3Ds
HoughTransform<POINT_CLOUD_TYPE>::run(const PointCloudPtr& cloud)
HoughTransform<POINT_CLOUD_TYPE>::run(const PointCloudPtr& cloud, float maxNorm)
{
PointCloudType minBound;
PointCloudType maxBound;

pcl::getMinMax3D(*cloud, minBound, maxBound);
float maxNorm = std::max<float>(this->calcNorm(minBound), this->calcNorm(maxBound));

if (maxNorm == 0) {
maxNorm = std::max<float>(this->calcNorm(minBound), this->calcNorm(maxBound));
}

float range = 2 * maxNorm;
float minRange = -maxNorm;
float deltaRange = range / m_param.numRangeBin;
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