Working on visualization. Not great. Have image from bottom up. Still don't believe it's 'just an OpenCV thing', going to port direction code to use OpenCV mat instead of raw array. Slowly burning out for the night.
minor fix.
Prototyped a new direction finding class to replace the old. Same algo, different data structures.
Apparently I'm forgetting to use git add. Again.
Updated a gitignore. Don't want to be uploading huge point clouds again.
Okay, getting somewhere. We have reimplemented code with visualization. I have not implemented filtering yet, and the detection still doesn't work. Please see obsFind function in NewDir.cpp
Actually add files. again.
The algorithm, in a basic form, now works.
Filtering Updated

Very rough outline of filtering, ready to test with real data.
Checked and edited filtering. Works well, but we can still try other filters if we want.
Fixed up gitignore for John to avoid adding Emacs backup files
.......And actually removed said backup files.
Algorithm Sketch pushed

Found in documentation. Backup files not included this time
Flipped input matrix about vertical to correct coordinates. Did not implement angled boundaries yet -- doesn't seem necessary, we can investigate more tonight.