timoschneider/ros2_lane_detect
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optimized a little

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This commit is contained in:
Timo Schneider
2025-05-06 19:58:57 +02:00
parent e3034d8500
commit 1031197bb4
1 changed files with 3 additions and 3 deletions
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6
src/main.rs
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@@ -43,10 +43,10 @@ fn create_pointcloud_labels_thread(pointcloud_rx: Receiver<Arc<Vec<Vec<f64>>>>)
thread::spawn(move || { thread::spawn(move || {
for pointcloud in pointcloud_rx { for pointcloud in pointcloud_rx {
let params = HdbscanHyperParams::builder() let params = HdbscanHyperParams::builder()
.epsilon(5.0) .epsilon(1000.0)
.min_samples(3) .min_samples(3)
.allow_single_cluster(false) .allow_single_cluster(false)
.min_cluster_size(pointcloud.len() / 8) .min_cluster_size(pointcloud.len() / 10)
.build(); .build();
let labels = Arc::new(Hdbscan::new(&pointcloud, params).cluster().unwrap()); let labels = Arc::new(Hdbscan::new(&pointcloud, params).cluster().unwrap());
pointcloud_labels_tx.send((pointcloud, labels)).unwrap() ; pointcloud_labels_tx.send((pointcloud, labels)).unwrap() ;
@@ -203,7 +203,7 @@ fn create_mestimator_thread(lanes_rx: Receiver<Arc<[Vec<Vec<f64>>; 2]>>) -> Rece
fn dummy_image_spawner_thread() -> Receiver<Arc<Vec<u8>>> { fn dummy_image_spawner_thread() -> Receiver<Arc<Vec<u8>>> {
let img: DynamicImage = ImageReader::open("./images/lane_detection_loop_80.png").unwrap().decode().unwrap(); let img: DynamicImage = ImageReader::open("./images/lane_detection_loop_60.png").unwrap().decode().unwrap();
let img_data: Vec<u8> = img.clone().into_bytes(); let img_data: Vec<u8> = img.clone().into_bytes();
let (img_tx, img_rx) = mpsc::sync_channel::<Arc<Vec<u8>>>(1); let (img_tx, img_rx) = mpsc::sync_channel::<Arc<Vec<u8>>>(1);