MGC Laser Vision Fusion

= General Description =

The goal of this component is to take vision and laser data (note that the laser is the real-world pitched laser) and returns laser data that is parallel to the ground. This is the first part of the three part vision system.

Algorithm
Unknown We really need someone to take lead on researching his problem JBridon 06:52, 27 January 2010 (UTC)

Owners

 * Adam
 * Jeremy
 * Matt

= Performance Requirements =

10Hz since the laser updates 10 times a second.

= Input =


 * From LaserCollision
 * Laser range collision data; Series of distance from the center and which points are flat (The ground)
 * Data type name: LaserRangeData
 * Actual Type: array of double pairs (x, y points), size is 2 * sizeof(double) * LaserRangeCount (This last variable is provided from LaserCollision)


 * From config file
 * Some sort of configuration options to correctly match the laser and vision data

= Output =


 * The two points that make a horizontal line of what we believe is a flat surface
 * DataName: FusionPoints
 * Actual data: Four integer points - two vector2 integers that represent xy points on the target image

= Developer Discussion =
 * I believe this is generally what we are trying to do in terms of road segmentation:
 * CMU paper describing toolbox linked below:
 * Matlab toolbox for laser to camera calibration: