int pathfinder(cv::Mat &frame, float &r, float &phi)
{
- cv::vector<cv::Vec2f> lines;
+ std::vector<cv::Vec2f> lines;
cv::warpPerspective(frame, frame, transformation_matrix, frame.size(), INTER_LINEAR);
Mat roi(frame, Rect(roi_x, roi_y, roi_width, roi_height));
ht_min_points = config.ht_min_points;
px = cm_to_px_y(config.roi_y);
if (px > 0 && px < img_vsize - roi_height) roi_y = px;
- else ROS_ERROR("Bad roi_y position %.2fcm", roi_y);
+ else ROS_ERROR("Bad roi_y position %dcm", roi_y);
road_distance_cm = config.road_distance_cm;
lad_cm = config.lad_cm;
speed_m_s = config.speed_m_s;