mtt: /home/laradmin/lar/perception/planarobstacles/mtt/include/mtt/mtt

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00002  Software License Agreement (BSD License)
00003 
00004  Copyright (c) 2011-2013, LAR toolkit developers - University of Aveiro - http://lars.mec.ua.pt
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00010   *Redistributions of source code must retain the above copyright notice, this list of
00011    conditions and the following disclaimer.
00012   *Redistributions in binary form must reproduce the above copyright notice, this list of
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00014    with the distribution.
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00031 #ifndef _MTT_CLUSTERING_H_
00032 #define _MTT_CLUSTERING_H_
00033 
00034 #include "mtt.h"
00035 
00036 void FlagCollisionWithOcclusion(t_cluster**clusters,int object_size,t_data*data,t_config*config);
00037 
00045 double dietmayer_threshold(double r,t_config*config);
00046 double ClusteringThreshold(double r1,double t1,double r2,double t2,t_config*config);
00047 
00057 t_cluster**clustering(t_data*data,int*count,t_config*config,t_flag*flags);
00058 
00059 bool clustering(t_data&data,vector<t_clustersPtr> &clustersPtr,t_config*config,t_flag*flags);
00060 
00069 void remove_border_points(t_cluster**clusters,int size,int npoints);
00070 
00079 void remove_small_clusters(t_cluster**clusters,int*size,int threshold);
00080 
00090 void calc_cluster_props(t_cluster**clusters,int size,t_data*data,t_config*config);
00091 
00101 bool clusters2objects(vector<t_objectPtr> &objectsPtr,vector<t_clustersPtr> &clusters,t_data& data,t_config& config);
00102 
00109 void calc_object_props(vector<t_objectPtr> &objects);
00110 
00111 void calc_cluster_props(vector<t_clustersPtr> &clusters,t_data&data);
00112 
00119 void clean_objets(vector<t_objectPtr> &objects);
00120 
00121 
00130 void recursive_line_fitting(t_objectPtr& object,t_cluster& cluster,t_data& data,t_config& config);
00131 
00138 void free_lines(vector<t_objectPtr> &objects);
00139 
00150 void recursive_IEPF(t_objectPtr& object,t_data& data,int start,int end,t_config& config);
00151 
00152 extern double point2point_distance(double xi,double yi,double xf,double yf);
00153 extern double point2line_distance(double alpha,double ro,double x,double y);
00154 extern int real2print(double x,t_config*config);
00155 extern void _p(const char*text);
00156 #endif
/home/laradmin/lar/perception/planarobstacles/mtt/include/mtt/mtt_clustering.h
