Segmentator improvement

[jara001]

Flood fill segmentator improved a lot over the euclidean one. However, I would like to test and introduce a segmentator that ensures, that the segment spans on both sides of the track. Yes, this can be a little bit tricky at certain places (e.g., Torino S-turn), but it should improve the overall result.

When talking about Torino, this is kinda fine:

    "segmentator": "flood_fill",
    "selector": "curvature",
    "selector_args": {
        "plot": false,
        "peaks_height": 0.2,
        "peaks_merge": 0,
        "peaks_filling": 8,
        "interpolation_factor": 9.08
    },

However, in other cases, such as:

    "segmentator": "flood_fill",
    "selector": "curvature",
    "selector_args": {
        "plot": false,
        "peaks_height": 0.17,
        "peaks_merge": 44,
        "peaks_filling": 100,
        "interpolation_factor": 0.85,
        "split_peaks": false,
        "downsample_factor": 11
    },

The segments inside the S-turn are done so badly, that we cannot have a point near the inner parts of both turns.

[jara001]

Maybe it would be enough to improve the flood fill with:

• Detect both walls,
• find closest point of both walls,
• create a "ensured path" between the segment center and both walls,
• proceed with flooding, but allow only the associated segment to populate the "ensured path".

[jara001]

Current progress (as of f9d842d0c587699c7bbb43ce40e2b465dbd412b4):

• Walls are identified,
• closest points are identified as well,
• ensured path is created (with set distance using reserve_distance in d9f8c112ffa79c698b38747421adca6ceafa5e6e),
• it is filled during flooding.

However!

• It is super slow (partially solved by a set list of segments with reservation using reserve_selected in e232d93967abc750e568605044fb0290aa4f0e53),
• it does not work every time, as reserved path of one segment may block the other.

To be done:

• Add a method that would estimate reserve_selected automatically,
• Probably create new curvature selector #9 that use distances (as shown in https://github.com/jara001/ng_trajectory/blob/devel/bin/ng_curvature_gui#L176) so that the parameters of the selector are automatic as well,
• and also ^^ partly solves #11.

[jara001]

Current progress (as of b4abc086b7383ce73afdd7361376f5212d1968cf):

• Curvature2 selector is implemented.

To be done:

• Estimate reserve_selected automatically.