[TASK] RANSAC Line Detector

[jorgenfj]

Description of task

Implement a RANSAC line detector to detect lines on grayscale images.
Ransac Medium article to learn how RANSAC works.

RANSAC is very general so it has to be applied to our specific use case.

Suggested Workflow

• Read up RANSAC
• See if you can utilize the memory layout of images for fast sampling or use sparse points.
• RANSAC models usually model infinite lines. See if you can extract endpoints from inliers to create line segments.
• Once a line is detected, its inliers should be removed and the algorithm should run again to detect additional lines.

Specifications

• Should follow a similar structure to LineDetectorHoughP
• Input should be an image topic and output should be LineSegments
• Should be able to tune the detector through ros params. This includes also number of lines to detect and min line length.

Contacts

@jorgenfj

Code Quality

• Every function in header files are documented (inputs/returns/exceptions)
• The project has automated tests that cover MOST of the functions and branches in functions (pytest/gtest)
• The code is documented on the wiki (provide link)