53 config->
beta=80*(M_PI/180.);
117 static bool initialise=
true;
118 static unsigned int max_size=30;
122 memset(acc->
fps,0,max_size*
sizeof(
double));
141 mean_fps+=acc->
fps[i];
150 static struct timeval timestart;
151 struct timeval timenow;
155 gettimeofday(×tart,NULL);
157 }
else if (status==
TOC)
159 gettimeofday(&timenow,NULL);
160 int ret=
timediff(timenow,timestart);
168 return (t1.tv_sec-t2.tv_sec)*1000000+(t1.tv_usec-t2.tv_usec);
172 {
return sqrt((xi-xf)*(xi-xf)+(yi-yf)*(yi-yf));}
175 {
return (xi-xf)*(xi-xf)+(yi-yf)*(yi-yf);}
178 {
return ro-x*cos(alpha)-y*sin(alpha);}
double max_stationary_velocity
double min_moving_velocity
double fps[100]
Accumulator.
int my_tictoc(int status)
TIC TOC implementation functions.
unsigned int display_min_lifetime
Minimum lifetime before the object appears (in iterations)
unsigned int position
Position the accumulator.
unsigned int current_size
Current size of accumulator.
double excluding_dr
Maximum dr that can exist between two consecutive points in any given object, this value is used to c...
Iterations per second structure.
Auxiliary functions header for the mtt tracking.
double point2point_algebric_distance(double xi, double yi, double xf, double yf)
Calculates the algebric distante between two points.
double cluster_break_distance
double dt
Time interval between two consecutive iterations.
unsigned int estimation_window_size
This is used to set the size of the error vectors, innovations and residual.
unsigned int velocity_acc_size
double point2point_distance(double xi, double yi, double xf, double yf)
Calculates the distante between two points.
void init_config(t_config *config)
Init configuration.
double default_ellipse_axis
double overlap_distance
Maximum distance between two object for the to overlap each other.
double get_fps(double dt, t_fps *acc)
int max_missing_iterations
Maximum number of iterations that an object can failure detection.
int overlap_max
Maximum number of iterations that an object can overlap another.
double filter_max_variation
This is used to avoid calculating the mean in the raw data filter when points are to far apart...
This structure contains global configurations parameters.
double point2line_distance(double alpha, double ro, double x, double y)
Calculates the line to point distance.
int data_acc_scans
Number of scans to accumulate.
double point_occlusion_distance
This variable is used when calculating the occluded points, in mm.
int timediff(struct timeval t1, struct timeval t2)
Calculates timediff.
This structure contains global flags parameters.
double max_mean_variance
for the iepf
bool fp_s
first point of scan, first image
void init_flags(t_flag *flags)
Init flags.