From d623c7601b374f92f8a0049831c96f3a63320964 Mon Sep 17 00:00:00 2001 From: Eirik Stokker Aksdal Date: Sun, 18 Oct 2026 16:49:53 +0200 Subject: [PATCH] Made a folder for detection algorithms and moved bearing localisation and line detection into it --- .../bearing_localization}/CMakeLists.txt | 0 .../bearing_localization}/README.md | 0 .../bearing_localization}/config/aruco.yaml | 0 .../bearing_localization}/config/bearing_localization_config.yaml | 0 .../bearing_localization}/config/default.yaml | 0 .../bearing_localization}/config/pinger.yaml | 0 .../bearing_localization/lib/bearing_localization_config.hpp | 0 .../include/bearing_localization/lib/bearing_localizer.hpp | 0 .../include/bearing_localization/lib/geometry_checks.hpp | 0 .../include/bearing_localization/lib/measurement_buffer.hpp | 0 .../include/bearing_localization/lib/ray_measurement.hpp | 0 .../include/bearing_localization/lib/triangulation_solver.hpp | 0 .../bearing_localization/ros/bearing_localization_node.hpp | 0 .../include/bearing_localization/ros/debug_markers.hpp | 0 .../bearing_localization}/launch/bearing_localization.launch.py | 0 .../bearing_localization}/package.xml | 0 .../bearing_localization}/src/lib/bearing_localizer.cpp | 0 .../bearing_localization}/src/lib/geometry_checks.cpp | 0 .../bearing_localization}/src/lib/measurement_buffer.cpp | 0 .../bearing_localization}/src/lib/triangulation_solver.cpp | 0 .../bearing_localization}/src/ros/bearing_localization_node.cpp | 0 .../bearing_localization}/src/ros/debug_markers.cpp | 0 .../bearing_localization}/src/ros/main.cpp | 0 .../line_detection}/line_detection_houghp/CMakeLists.txt | 0 .../line_detection}/line_detection_houghp/README.md | 0 .../line_detection_houghp/config/line_detection_houghp.yaml | 0 .../include/line_detection_houghp/lib/line_detection_houghp.hpp | 0 .../include/line_detection_houghp/lib/mode_utils.hpp | 0 .../include/line_detection_houghp/lib/typedefs.hpp | 0 .../include/line_detection_houghp/lib/utils.hpp | 0 .../line_detection_houghp/ros/line_detection_houghp_ros.hpp | 0 .../line_detection_houghp/launch/line_detection_houghp.launch.py | 0 .../line_detection}/line_detection_houghp/package.xml | 0 .../line_detection_houghp/src/lib/houghp_line_detection.cpp | 0 .../line_detection}/line_detection_houghp/src/lib/utils.cpp | 0 .../line_detection_houghp/src/ros/line_detection_houghp_ros.cpp | 0 .../src/ros/line_detection_houghp_ros_utils.cpp | 0 .../line_detection}/line_detection_ransac/CMakeLists.txt | 0 .../line_detection}/line_detection_ransac/README.md | 0 .../line_detection_ransac/config/line_detection_ransac_real.yaml | 0 .../line_detection_ransac/config/line_detection_ransac_sim.yaml | 0 .../include/line_detection_ransac/lib/detection_utils.hpp | 0 .../include/line_detection_ransac/lib/line_detection_ransac.hpp | 0 .../include/line_detection_ransac/lib/mode_utils.hpp | 0 .../include/line_detection_ransac/lib/typedefs.hpp | 0 .../include/line_detection_ransac/lib/utils.hpp | 0 .../line_detection_ransac/ros/line_detection_ransac_ros.hpp | 0 .../line_detection_ransac/launch/line_detection_ransac.launch.py | 0 .../line_detection}/line_detection_ransac/package.xml | 0 .../line_detection_ransac/src/lib/detection_utils.cpp | 0 .../line_detection_ransac/src/lib/ransac_line_detection.cpp | 0 .../line_detection}/line_detection_ransac/src/lib/utils.cpp | 0 .../line_detection_ransac/src/ros/line_detection_ransac_ros.cpp | 0 .../src/ros/line_detection_ransac_ros_utils.cpp | 0 54 files changed, 0 insertions(+), 0 deletions(-) rename {bearing_localization => detection_algorithms/bearing_localization}/CMakeLists.txt (100%) rename {bearing_localization => detection_algorithms/bearing_localization}/README.md (100%) rename {bearing_localization => detection_algorithms/bearing_localization}/config/aruco.yaml (100%) rename {bearing_localization => detection_algorithms/bearing_localization}/config/bearing_localization_config.yaml (100%) rename {bearing_localization => detection_algorithms/bearing_localization}/config/default.yaml (100%) rename {bearing_localization => detection_algorithms/bearing_localization}/config/pinger.yaml (100%) rename {bearing_localization => detection_algorithms/bearing_localization}/include/bearing_localization/lib/bearing_localization_config.hpp (100%) rename {bearing_localization => detection_algorithms/bearing_localization}/include/bearing_localization/lib/bearing_localizer.hpp (100%) rename {bearing_localization => detection_algorithms/bearing_localization}/include/bearing_localization/lib/geometry_checks.hpp (100%) rename {bearing_localization => detection_algorithms/bearing_localization}/include/bearing_localization/lib/measurement_buffer.hpp (100%) rename {bearing_localization => detection_algorithms/bearing_localization}/include/bearing_localization/lib/ray_measurement.hpp (100%) rename {bearing_localization => detection_algorithms/bearing_localization}/include/bearing_localization/lib/triangulation_solver.hpp (100%) rename {bearing_localization => detection_algorithms/bearing_localization}/include/bearing_localization/ros/bearing_localization_node.hpp (100%) rename {bearing_localization => detection_algorithms/bearing_localization}/include/bearing_localization/ros/debug_markers.hpp (100%) rename {bearing_localization => detection_algorithms/bearing_localization}/launch/bearing_localization.launch.py (100%) rename {bearing_localization => detection_algorithms/bearing_localization}/package.xml (100%) rename {bearing_localization => detection_algorithms/bearing_localization}/src/lib/bearing_localizer.cpp (100%) rename {bearing_localization => detection_algorithms/bearing_localization}/src/lib/geometry_checks.cpp (100%) rename {bearing_localization => detection_algorithms/bearing_localization}/src/lib/measurement_buffer.cpp (100%) rename {bearing_localization => detection_algorithms/bearing_localization}/src/lib/triangulation_solver.cpp (100%) rename {bearing_localization => detection_algorithms/bearing_localization}/src/ros/bearing_localization_node.cpp (100%) rename {bearing_localization => detection_algorithms/bearing_localization}/src/ros/debug_markers.cpp (100%) rename {bearing_localization => detection_algorithms/bearing_localization}/src/ros/main.cpp (100%) rename {line_detection => detection_algorithms/line_detection}/line_detection_houghp/CMakeLists.txt (100%) rename {line_detection => detection_algorithms/line_detection}/line_detection_houghp/README.md (100%) rename {line_detection => detection_algorithms/line_detection}/line_detection_houghp/config/line_detection_houghp.yaml (100%) rename {line_detection => detection_algorithms/line_detection}/line_detection_houghp/include/line_detection_houghp/lib/line_detection_houghp.hpp (100%) rename {line_detection => detection_algorithms/line_detection}/line_detection_houghp/include/line_detection_houghp/lib/mode_utils.hpp (100%) rename {line_detection => detection_algorithms/line_detection}/line_detection_houghp/include/line_detection_houghp/lib/typedefs.hpp (100%) rename {line_detection => detection_algorithms/line_detection}/line_detection_houghp/include/line_detection_houghp/lib/utils.hpp (100%) rename {line_detection => detection_algorithms/line_detection}/line_detection_houghp/include/line_detection_houghp/ros/line_detection_houghp_ros.hpp (100%) rename {line_detection => detection_algorithms/line_detection}/line_detection_houghp/launch/line_detection_houghp.launch.py (100%) rename {line_detection => detection_algorithms/line_detection}/line_detection_houghp/package.xml (100%) rename {line_detection => detection_algorithms/line_detection}/line_detection_houghp/src/lib/houghp_line_detection.cpp (100%) rename {line_detection => detection_algorithms/line_detection}/line_detection_houghp/src/lib/utils.cpp (100%) rename {line_detection => detection_algorithms/line_detection}/line_detection_houghp/src/ros/line_detection_houghp_ros.cpp (100%) rename {line_detection => detection_algorithms/line_detection}/line_detection_houghp/src/ros/line_detection_houghp_ros_utils.cpp (100%) rename {line_detection => detection_algorithms/line_detection}/line_detection_ransac/CMakeLists.txt (100%) rename {line_detection => detection_algorithms/line_detection}/line_detection_ransac/README.md (100%) rename {line_detection => detection_algorithms/line_detection}/line_detection_ransac/config/line_detection_ransac_real.yaml (100%) rename {line_detection => detection_algorithms/line_detection}/line_detection_ransac/config/line_detection_ransac_sim.yaml (100%) rename {line_detection => detection_algorithms/line_detection}/line_detection_ransac/include/line_detection_ransac/lib/detection_utils.hpp (100%) rename {line_detection => detection_algorithms/line_detection}/line_detection_ransac/include/line_detection_ransac/lib/line_detection_ransac.hpp (100%) rename {line_detection => detection_algorithms/line_detection}/line_detection_ransac/include/line_detection_ransac/lib/mode_utils.hpp (100%) rename {line_detection => detection_algorithms/line_detection}/line_detection_ransac/include/line_detection_ransac/lib/typedefs.hpp (100%) rename {line_detection => detection_algorithms/line_detection}/line_detection_ransac/include/line_detection_ransac/lib/utils.hpp (100%) rename {line_detection => detection_algorithms/line_detection}/line_detection_ransac/include/line_detection_ransac/ros/line_detection_ransac_ros.hpp (100%) rename {line_detection => detection_algorithms/line_detection}/line_detection_ransac/launch/line_detection_ransac.launch.py (100%) rename {line_detection => detection_algorithms/line_detection}/line_detection_ransac/package.xml (100%) rename {line_detection => detection_algorithms/line_detection}/line_detection_ransac/src/lib/detection_utils.cpp (100%) rename {line_detection => detection_algorithms/line_detection}/line_detection_ransac/src/lib/ransac_line_detection.cpp (100%) rename {line_detection => detection_algorithms/line_detection}/line_detection_ransac/src/lib/utils.cpp (100%) rename {line_detection => detection_algorithms/line_detection}/line_detection_ransac/src/ros/line_detection_ransac_ros.cpp (100%) rename {line_detection => detection_algorithms/line_detection}/line_detection_ransac/src/ros/line_detection_ransac_ros_utils.cpp (100%) diff --git a/bearing_localization/CMakeLists.txt b/detection_algorithms/bearing_localization/CMakeLists.txt similarity index 100% rename from bearing_localization/CMakeLists.txt rename to detection_algorithms/bearing_localization/CMakeLists.txt diff --git a/bearing_localization/README.md b/detection_algorithms/bearing_localization/README.md similarity index 100% rename from bearing_localization/README.md rename to detection_algorithms/bearing_localization/README.md diff --git a/bearing_localization/config/aruco.yaml b/detection_algorithms/bearing_localization/config/aruco.yaml similarity index 100% rename from bearing_localization/config/aruco.yaml rename to detection_algorithms/bearing_localization/config/aruco.yaml diff --git a/bearing_localization/config/bearing_localization_config.yaml b/detection_algorithms/bearing_localization/config/bearing_localization_config.yaml similarity index 100% rename from bearing_localization/config/bearing_localization_config.yaml rename to detection_algorithms/bearing_localization/config/bearing_localization_config.yaml diff --git a/bearing_localization/config/default.yaml b/detection_algorithms/bearing_localization/config/default.yaml similarity index 100% rename from bearing_localization/config/default.yaml rename to detection_algorithms/bearing_localization/config/default.yaml diff --git a/bearing_localization/config/pinger.yaml b/detection_algorithms/bearing_localization/config/pinger.yaml similarity index 100% rename from bearing_localization/config/pinger.yaml rename to detection_algorithms/bearing_localization/config/pinger.yaml diff --git a/bearing_localization/include/bearing_localization/lib/bearing_localization_config.hpp b/detection_algorithms/bearing_localization/include/bearing_localization/lib/bearing_localization_config.hpp similarity index 100% rename from bearing_localization/include/bearing_localization/lib/bearing_localization_config.hpp rename to detection_algorithms/bearing_localization/include/bearing_localization/lib/bearing_localization_config.hpp diff --git a/bearing_localization/include/bearing_localization/lib/bearing_localizer.hpp b/detection_algorithms/bearing_localization/include/bearing_localization/lib/bearing_localizer.hpp similarity index 100% rename from bearing_localization/include/bearing_localization/lib/bearing_localizer.hpp rename to detection_algorithms/bearing_localization/include/bearing_localization/lib/bearing_localizer.hpp diff --git a/bearing_localization/include/bearing_localization/lib/geometry_checks.hpp b/detection_algorithms/bearing_localization/include/bearing_localization/lib/geometry_checks.hpp similarity index 100% rename from bearing_localization/include/bearing_localization/lib/geometry_checks.hpp rename to detection_algorithms/bearing_localization/include/bearing_localization/lib/geometry_checks.hpp diff --git a/bearing_localization/include/bearing_localization/lib/measurement_buffer.hpp b/detection_algorithms/bearing_localization/include/bearing_localization/lib/measurement_buffer.hpp similarity index 100% rename from bearing_localization/include/bearing_localization/lib/measurement_buffer.hpp rename to detection_algorithms/bearing_localization/include/bearing_localization/lib/measurement_buffer.hpp diff --git a/bearing_localization/include/bearing_localization/lib/ray_measurement.hpp b/detection_algorithms/bearing_localization/include/bearing_localization/lib/ray_measurement.hpp similarity index 100% rename from bearing_localization/include/bearing_localization/lib/ray_measurement.hpp rename to detection_algorithms/bearing_localization/include/bearing_localization/lib/ray_measurement.hpp diff --git a/bearing_localization/include/bearing_localization/lib/triangulation_solver.hpp b/detection_algorithms/bearing_localization/include/bearing_localization/lib/triangulation_solver.hpp similarity index 100% rename from bearing_localization/include/bearing_localization/lib/triangulation_solver.hpp rename to detection_algorithms/bearing_localization/include/bearing_localization/lib/triangulation_solver.hpp diff --git a/bearing_localization/include/bearing_localization/ros/bearing_localization_node.hpp b/detection_algorithms/bearing_localization/include/bearing_localization/ros/bearing_localization_node.hpp similarity index 100% rename from bearing_localization/include/bearing_localization/ros/bearing_localization_node.hpp rename to detection_algorithms/bearing_localization/include/bearing_localization/ros/bearing_localization_node.hpp diff --git a/bearing_localization/include/bearing_localization/ros/debug_markers.hpp b/detection_algorithms/bearing_localization/include/bearing_localization/ros/debug_markers.hpp similarity index 100% rename from bearing_localization/include/bearing_localization/ros/debug_markers.hpp rename to detection_algorithms/bearing_localization/include/bearing_localization/ros/debug_markers.hpp diff --git a/bearing_localization/launch/bearing_localization.launch.py b/detection_algorithms/bearing_localization/launch/bearing_localization.launch.py similarity index 100% rename from bearing_localization/launch/bearing_localization.launch.py rename to detection_algorithms/bearing_localization/launch/bearing_localization.launch.py diff --git a/bearing_localization/package.xml b/detection_algorithms/bearing_localization/package.xml similarity index 100% rename from bearing_localization/package.xml rename to detection_algorithms/bearing_localization/package.xml diff --git a/bearing_localization/src/lib/bearing_localizer.cpp b/detection_algorithms/bearing_localization/src/lib/bearing_localizer.cpp similarity index 100% rename from bearing_localization/src/lib/bearing_localizer.cpp rename to detection_algorithms/bearing_localization/src/lib/bearing_localizer.cpp diff --git a/bearing_localization/src/lib/geometry_checks.cpp b/detection_algorithms/bearing_localization/src/lib/geometry_checks.cpp similarity index 100% rename from bearing_localization/src/lib/geometry_checks.cpp rename to detection_algorithms/bearing_localization/src/lib/geometry_checks.cpp diff --git a/bearing_localization/src/lib/measurement_buffer.cpp b/detection_algorithms/bearing_localization/src/lib/measurement_buffer.cpp similarity index 100% rename from bearing_localization/src/lib/measurement_buffer.cpp rename to detection_algorithms/bearing_localization/src/lib/measurement_buffer.cpp diff --git a/bearing_localization/src/lib/triangulation_solver.cpp b/detection_algorithms/bearing_localization/src/lib/triangulation_solver.cpp similarity index 100% rename from bearing_localization/src/lib/triangulation_solver.cpp rename to detection_algorithms/bearing_localization/src/lib/triangulation_solver.cpp diff --git a/bearing_localization/src/ros/bearing_localization_node.cpp b/detection_algorithms/bearing_localization/src/ros/bearing_localization_node.cpp similarity index 100% rename from bearing_localization/src/ros/bearing_localization_node.cpp rename to detection_algorithms/bearing_localization/src/ros/bearing_localization_node.cpp diff --git a/bearing_localization/src/ros/debug_markers.cpp b/detection_algorithms/bearing_localization/src/ros/debug_markers.cpp similarity index 100% rename from bearing_localization/src/ros/debug_markers.cpp rename to detection_algorithms/bearing_localization/src/ros/debug_markers.cpp diff --git a/bearing_localization/src/ros/main.cpp b/detection_algorithms/bearing_localization/src/ros/main.cpp similarity index 100% rename from bearing_localization/src/ros/main.cpp rename to detection_algorithms/bearing_localization/src/ros/main.cpp diff --git a/line_detection/line_detection_houghp/CMakeLists.txt b/detection_algorithms/line_detection/line_detection_houghp/CMakeLists.txt similarity index 100% rename from line_detection/line_detection_houghp/CMakeLists.txt rename to detection_algorithms/line_detection/line_detection_houghp/CMakeLists.txt diff --git a/line_detection/line_detection_houghp/README.md b/detection_algorithms/line_detection/line_detection_houghp/README.md similarity index 100% rename from line_detection/line_detection_houghp/README.md rename to detection_algorithms/line_detection/line_detection_houghp/README.md diff --git a/line_detection/line_detection_houghp/config/line_detection_houghp.yaml b/detection_algorithms/line_detection/line_detection_houghp/config/line_detection_houghp.yaml similarity index 100% rename from line_detection/line_detection_houghp/config/line_detection_houghp.yaml rename to detection_algorithms/line_detection/line_detection_houghp/config/line_detection_houghp.yaml diff --git a/line_detection/line_detection_houghp/include/line_detection_houghp/lib/line_detection_houghp.hpp b/detection_algorithms/line_detection/line_detection_houghp/include/line_detection_houghp/lib/line_detection_houghp.hpp similarity index 100% rename from line_detection/line_detection_houghp/include/line_detection_houghp/lib/line_detection_houghp.hpp rename to detection_algorithms/line_detection/line_detection_houghp/include/line_detection_houghp/lib/line_detection_houghp.hpp diff --git a/line_detection/line_detection_houghp/include/line_detection_houghp/lib/mode_utils.hpp b/detection_algorithms/line_detection/line_detection_houghp/include/line_detection_houghp/lib/mode_utils.hpp similarity index 100% rename from line_detection/line_detection_houghp/include/line_detection_houghp/lib/mode_utils.hpp rename to detection_algorithms/line_detection/line_detection_houghp/include/line_detection_houghp/lib/mode_utils.hpp diff --git a/line_detection/line_detection_houghp/include/line_detection_houghp/lib/typedefs.hpp b/detection_algorithms/line_detection/line_detection_houghp/include/line_detection_houghp/lib/typedefs.hpp similarity index 100% rename from line_detection/line_detection_houghp/include/line_detection_houghp/lib/typedefs.hpp rename to detection_algorithms/line_detection/line_detection_houghp/include/line_detection_houghp/lib/typedefs.hpp diff --git a/line_detection/line_detection_houghp/include/line_detection_houghp/lib/utils.hpp b/detection_algorithms/line_detection/line_detection_houghp/include/line_detection_houghp/lib/utils.hpp similarity index 100% rename from line_detection/line_detection_houghp/include/line_detection_houghp/lib/utils.hpp rename to detection_algorithms/line_detection/line_detection_houghp/include/line_detection_houghp/lib/utils.hpp diff --git a/line_detection/line_detection_houghp/include/line_detection_houghp/ros/line_detection_houghp_ros.hpp b/detection_algorithms/line_detection/line_detection_houghp/include/line_detection_houghp/ros/line_detection_houghp_ros.hpp similarity index 100% rename from line_detection/line_detection_houghp/include/line_detection_houghp/ros/line_detection_houghp_ros.hpp rename to detection_algorithms/line_detection/line_detection_houghp/include/line_detection_houghp/ros/line_detection_houghp_ros.hpp diff --git a/line_detection/line_detection_houghp/launch/line_detection_houghp.launch.py b/detection_algorithms/line_detection/line_detection_houghp/launch/line_detection_houghp.launch.py similarity index 100% rename from line_detection/line_detection_houghp/launch/line_detection_houghp.launch.py rename to detection_algorithms/line_detection/line_detection_houghp/launch/line_detection_houghp.launch.py diff --git a/line_detection/line_detection_houghp/package.xml b/detection_algorithms/line_detection/line_detection_houghp/package.xml similarity index 100% rename from line_detection/line_detection_houghp/package.xml rename to detection_algorithms/line_detection/line_detection_houghp/package.xml diff --git a/line_detection/line_detection_houghp/src/lib/houghp_line_detection.cpp b/detection_algorithms/line_detection/line_detection_houghp/src/lib/houghp_line_detection.cpp similarity index 100% rename from line_detection/line_detection_houghp/src/lib/houghp_line_detection.cpp rename to detection_algorithms/line_detection/line_detection_houghp/src/lib/houghp_line_detection.cpp diff --git a/line_detection/line_detection_houghp/src/lib/utils.cpp b/detection_algorithms/line_detection/line_detection_houghp/src/lib/utils.cpp similarity index 100% rename from line_detection/line_detection_houghp/src/lib/utils.cpp rename to detection_algorithms/line_detection/line_detection_houghp/src/lib/utils.cpp diff --git a/line_detection/line_detection_houghp/src/ros/line_detection_houghp_ros.cpp b/detection_algorithms/line_detection/line_detection_houghp/src/ros/line_detection_houghp_ros.cpp similarity index 100% rename from line_detection/line_detection_houghp/src/ros/line_detection_houghp_ros.cpp rename to detection_algorithms/line_detection/line_detection_houghp/src/ros/line_detection_houghp_ros.cpp diff --git a/line_detection/line_detection_houghp/src/ros/line_detection_houghp_ros_utils.cpp b/detection_algorithms/line_detection/line_detection_houghp/src/ros/line_detection_houghp_ros_utils.cpp similarity index 100% rename from line_detection/line_detection_houghp/src/ros/line_detection_houghp_ros_utils.cpp rename to detection_algorithms/line_detection/line_detection_houghp/src/ros/line_detection_houghp_ros_utils.cpp diff --git a/line_detection/line_detection_ransac/CMakeLists.txt b/detection_algorithms/line_detection/line_detection_ransac/CMakeLists.txt similarity index 100% rename from line_detection/line_detection_ransac/CMakeLists.txt rename to detection_algorithms/line_detection/line_detection_ransac/CMakeLists.txt diff --git a/line_detection/line_detection_ransac/README.md b/detection_algorithms/line_detection/line_detection_ransac/README.md similarity index 100% rename from line_detection/line_detection_ransac/README.md rename to detection_algorithms/line_detection/line_detection_ransac/README.md diff --git a/line_detection/line_detection_ransac/config/line_detection_ransac_real.yaml b/detection_algorithms/line_detection/line_detection_ransac/config/line_detection_ransac_real.yaml similarity index 100% rename from line_detection/line_detection_ransac/config/line_detection_ransac_real.yaml rename to detection_algorithms/line_detection/line_detection_ransac/config/line_detection_ransac_real.yaml diff --git a/line_detection/line_detection_ransac/config/line_detection_ransac_sim.yaml b/detection_algorithms/line_detection/line_detection_ransac/config/line_detection_ransac_sim.yaml similarity index 100% rename from line_detection/line_detection_ransac/config/line_detection_ransac_sim.yaml rename to detection_algorithms/line_detection/line_detection_ransac/config/line_detection_ransac_sim.yaml diff --git a/line_detection/line_detection_ransac/include/line_detection_ransac/lib/detection_utils.hpp b/detection_algorithms/line_detection/line_detection_ransac/include/line_detection_ransac/lib/detection_utils.hpp similarity index 100% rename from line_detection/line_detection_ransac/include/line_detection_ransac/lib/detection_utils.hpp rename to detection_algorithms/line_detection/line_detection_ransac/include/line_detection_ransac/lib/detection_utils.hpp diff --git a/line_detection/line_detection_ransac/include/line_detection_ransac/lib/line_detection_ransac.hpp b/detection_algorithms/line_detection/line_detection_ransac/include/line_detection_ransac/lib/line_detection_ransac.hpp similarity index 100% rename from line_detection/line_detection_ransac/include/line_detection_ransac/lib/line_detection_ransac.hpp rename to detection_algorithms/line_detection/line_detection_ransac/include/line_detection_ransac/lib/line_detection_ransac.hpp diff --git a/line_detection/line_detection_ransac/include/line_detection_ransac/lib/mode_utils.hpp b/detection_algorithms/line_detection/line_detection_ransac/include/line_detection_ransac/lib/mode_utils.hpp similarity index 100% rename from line_detection/line_detection_ransac/include/line_detection_ransac/lib/mode_utils.hpp rename to detection_algorithms/line_detection/line_detection_ransac/include/line_detection_ransac/lib/mode_utils.hpp diff --git a/line_detection/line_detection_ransac/include/line_detection_ransac/lib/typedefs.hpp b/detection_algorithms/line_detection/line_detection_ransac/include/line_detection_ransac/lib/typedefs.hpp similarity index 100% rename from line_detection/line_detection_ransac/include/line_detection_ransac/lib/typedefs.hpp rename to detection_algorithms/line_detection/line_detection_ransac/include/line_detection_ransac/lib/typedefs.hpp diff --git a/line_detection/line_detection_ransac/include/line_detection_ransac/lib/utils.hpp b/detection_algorithms/line_detection/line_detection_ransac/include/line_detection_ransac/lib/utils.hpp similarity index 100% rename from line_detection/line_detection_ransac/include/line_detection_ransac/lib/utils.hpp rename to detection_algorithms/line_detection/line_detection_ransac/include/line_detection_ransac/lib/utils.hpp diff --git a/line_detection/line_detection_ransac/include/line_detection_ransac/ros/line_detection_ransac_ros.hpp b/detection_algorithms/line_detection/line_detection_ransac/include/line_detection_ransac/ros/line_detection_ransac_ros.hpp similarity index 100% rename from line_detection/line_detection_ransac/include/line_detection_ransac/ros/line_detection_ransac_ros.hpp rename to detection_algorithms/line_detection/line_detection_ransac/include/line_detection_ransac/ros/line_detection_ransac_ros.hpp diff --git a/line_detection/line_detection_ransac/launch/line_detection_ransac.launch.py b/detection_algorithms/line_detection/line_detection_ransac/launch/line_detection_ransac.launch.py similarity index 100% rename from line_detection/line_detection_ransac/launch/line_detection_ransac.launch.py rename to detection_algorithms/line_detection/line_detection_ransac/launch/line_detection_ransac.launch.py diff --git a/line_detection/line_detection_ransac/package.xml b/detection_algorithms/line_detection/line_detection_ransac/package.xml similarity index 100% rename from line_detection/line_detection_ransac/package.xml rename to detection_algorithms/line_detection/line_detection_ransac/package.xml diff --git a/line_detection/line_detection_ransac/src/lib/detection_utils.cpp b/detection_algorithms/line_detection/line_detection_ransac/src/lib/detection_utils.cpp similarity index 100% rename from line_detection/line_detection_ransac/src/lib/detection_utils.cpp rename to detection_algorithms/line_detection/line_detection_ransac/src/lib/detection_utils.cpp diff --git a/line_detection/line_detection_ransac/src/lib/ransac_line_detection.cpp b/detection_algorithms/line_detection/line_detection_ransac/src/lib/ransac_line_detection.cpp similarity index 100% rename from line_detection/line_detection_ransac/src/lib/ransac_line_detection.cpp rename to detection_algorithms/line_detection/line_detection_ransac/src/lib/ransac_line_detection.cpp diff --git a/line_detection/line_detection_ransac/src/lib/utils.cpp b/detection_algorithms/line_detection/line_detection_ransac/src/lib/utils.cpp similarity index 100% rename from line_detection/line_detection_ransac/src/lib/utils.cpp rename to detection_algorithms/line_detection/line_detection_ransac/src/lib/utils.cpp diff --git a/line_detection/line_detection_ransac/src/ros/line_detection_ransac_ros.cpp b/detection_algorithms/line_detection/line_detection_ransac/src/ros/line_detection_ransac_ros.cpp similarity index 100% rename from line_detection/line_detection_ransac/src/ros/line_detection_ransac_ros.cpp rename to detection_algorithms/line_detection/line_detection_ransac/src/ros/line_detection_ransac_ros.cpp diff --git a/line_detection/line_detection_ransac/src/ros/line_detection_ransac_ros_utils.cpp b/detection_algorithms/line_detection/line_detection_ransac/src/ros/line_detection_ransac_ros_utils.cpp similarity index 100% rename from line_detection/line_detection_ransac/src/ros/line_detection_ransac_ros_utils.cpp rename to detection_algorithms/line_detection/line_detection_ransac/src/ros/line_detection_ransac_ros_utils.cpp