timoschneider/ros2_lane_detect
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fix

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This commit is contained in:
Timo Schneider
2025-05-05 22:00:23 +02:00
parent fab8e8e6de
commit 0e3ae8be8a
1 changed files with 4 additions and 3 deletions
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7
src/main.rs
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@@ -81,8 +81,8 @@ fn create_cluster_separator_thread(cluster_labels: Receiver<(Arc<Vec<Vec<f64>>>,
clusters_rx clusters_rx
} }
fn create_isolate_lane_thread(clusters_rx: Receiver<Arc<HashMap::<i32, Vec<Vec<f64>>>>>) -> Receiver<[Vec<Vec<f64>>; 2]> { fn create_isolate_lane_thread(clusters_rx: Receiver<Arc<HashMap::<i32, Vec<Vec<f64>>>>>) -> Receiver<Arc<[Vec<Vec<f64>>; 2]>> {
let (lanes_tx, lanes_rx) = mpsc::sync_channel::<[Vec<Vec<f64>>; 2]>(1); let (lanes_tx, lanes_rx) = mpsc::sync_channel::<Arc<[Vec<Vec<f64>>; 2]>>(1);
thread::spawn(move || { thread::spawn(move || {
for clusters in clusters_rx { for clusters in clusters_rx {
@@ -92,7 +92,8 @@ fn create_isolate_lane_thread(clusters_rx: Receiver<Arc<HashMap::<i32, Vec<Vec<f
averages.sort_by(|(_, a), (_, b)| a.partial_cmp(b).unwrap()); averages.sort_by(|(_, a), (_, b)| a.partial_cmp(b).unwrap());
lanes_tx.send([clusters.get(&averages[0].0).unwrap().clone(), clusters.get(&averages[1].0 ).unwrap().clone()]).unwrap() ; if averages.len() < 2 {continue;}
lanes_tx.send(Arc::new([clusters.get(&averages[0].0).unwrap().clone(), clusters.get(&averages[1].0 ).unwrap().clone()])).unwrap() ;
} }
}); });