detection lines and circles

[ghost]

Hi:

I am using the obstacle_detector.cpp as a standalone c++ class in my application. Currently it worked very well to detect trafic cones as circles. Now I also want to detect wall as long straight lines. Could you please let me know how I can detect obstacles and walls at the same time? Seems you already have that in the code. but I could not figure out how to get the circle and lines separately.

THanks,

[tysik]

Hey deeprun. The obstacle_extractor node can extractor both circular and linear obstacles but the obstacle_tracker node can only track the circular obstacles. Check if you see the line segments in the "raw" obstacles right from the obstacle_extractor.