Commit d1251704 authored by James Ward's avatar James Ward
Browse files

Add corners in same order as paper

parent 87c471b2
......@@ -507,10 +507,11 @@ void FeatureExtractor::extractRegionOfInterest(const sensor_msgs::Image::ConstPt
cv::Point3d left(corner[0], corner[1], corner[2]);
pcl::lineWithLineIntersection(top_right, bottom_right, corner);
cv::Point3d right(corner[0], corner[1], corner[2]);
// Add points in same order as the paper
sample.lidar_corners.push_back(right);
sample.lidar_corners.push_back(top);
sample.lidar_corners.push_back(left);
sample.lidar_corners.push_back(bottom);
sample.lidar_corners.push_back(right);
for (const auto& p : sample.lidar_corners)
{
......
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