Line detection colorimg

[oahelmer]

line detection tuned for office, needs good lighting.

[Andeshog]

I would be mindful about the buffer size here and qos here. For image streams the best effort qos variable you defined over should be good instead

[Andeshog]

This method is very long, has too many indentations and does a lot of stuff. For a reader it is not so easy to see what is going on. I would suggest to look at these points that could improve the code readability and maintainability, and maybe also performance improvements.

Avoid unnecessary nesting:

Instead of

if (!condition) {
    // Continue with stuff
}

you can do

if (condition) {
    return; // or handle it in other ways
}
// Continue with stuff

This is especially nice for the reader since they don't have to keep track of the condition when reading the code.

Variable naming

Clear and more explanatory names are also something that ups the overall readability of the code, and makes it easier for readers to easier understand it. Although you have some good and clear names, there are some that can be improved. For instance cx, cy, dx, dy, x, y. It isnt easy to immediately see what they represent, even with context.

Helper functions

Well-named helper functions make the code easier to read and maintain. They are also following the single-responsibility principle that says that each function has one job.

Example:

float distance =
    std::abs(coefficients->values[0] * point.x +
           coefficients->values[1] * point.y +
           coefficients->values[2] * point.z +
           coefficients->values[3]) /
    std::sqrt(coefficients->values[0] *
                coefficients->values[0] +
            coefficients->values[1] *
                coefficients->values[1] +
            coefficients->values[2] *
                coefficients->values[2]);

could be a helper function. If a code block is repeated, then you could think about generalizing it as a helper function.

Use functions from the Standard Library / CV

There are a lot of nice algorithms and function from both the STL and CV, which can replace the longer and nested for loops

[codecov]

Codecov Report

Attention: Patch coverage is 0% with 137 lines in your changes missing coverage. Please review.

Project coverage is 0.00%. Comparing base (4568de3) to head (410219d).

Files with missing lines	Patch %	Lines
src/valve_detection.cpp	0.00%	137 Missing ⚠️

Additional details and impacted files

@@          Coverage Diff          @@
##            main      #3   +/-   ##
=====================================
  Coverage   0.00%   0.00%           
=====================================
  Files          2       2           
  Lines        256     335   +79     
  Branches      21      29    +8     
=====================================
- Misses       256     335   +79     

Flag	Coverage Δ
unittests	0.00% <0.00%> (ø)

Flags with carried forward coverage won't be shown. Click here to find out more.

Files with missing lines	Coverage Δ
include/valve_detection/valve_detection.hpp	0.00% <ø> (ø)
src/valve_detection.cpp	0.00% <0.00%> (ø)

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