[TASK] Pipeline Detection

[jorgenfj]

Description of task

We need a way to detect the pipeline from the generated pipeline filter.

Suggested Workflow

Look at the pointcloud implementation of ranSAC for inspiration.

try to create an algorithm that for every image:

1. Find Line nr. 1
2. Optimize line with inliers.
3. If n_inliners > threshold, accept current line
4. Project inliers onto line to find start and end of line.
5. Remove inliers from image
6. Find Line nr. 2
7. Use the found line and add back the removed inliers to the image to optimize line.
8. Project inliers onto line to find start and end of line.

Specifications

• This node takes an Image message as input and should output a PoseArray that represents the pipe.
• Should find 0-2 lines in an image and output the endpoints of the line.

Contacts

@jorgenfj

Code Quality

• Every function in header files are documented (inputs/returns/exceptions)
• The project has automated tests that cover MOST of the functions and branches in functions (pytest/gtest)
• The code is documented on the wiki (provide link)