mtt_auxiliar_pedect.cpp

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#include <mtt/mtt_auxiliar.h>

void init_config(t_config*config)
{
        config->maxr=30.;               //in meters
        
        config->in_clip=0.1;            //in meters
        config->out_clip=config->maxr;
        
        config->in_angle= 0;            //Radians
        config->out_angle= 2*M_PI;              //Radians
        
        //      config->cluster_break_distance=10;
        //      config->cluster_break_distance=100;
                config->cluster_break_distance=10.;
//      config->cluster_break_distance=1000;
//      config->cluster_break_distance=1000;
//      config->cluster_break_distance=0.5;
        
        config->fi=5.0*(M_PI/180.);//clustering parameters
//      config->fi=90*(M_PI/180.);//clustering parameters
        config->beta=60*(M_PI/180.);
//              config->C0=200.;
        //      config->C0=2000.;
        config->C0=0.2;
        
        config->filter_max_variation=0.001;//used in raw data filter, in m
        
//      config->excluding_dr=2.50;
        config->excluding_dr=250;
        
        config->point_occlusion_distance=500.; //used in point occlusion calculation
        //      config->point_occlusion_distance=2000; //used in point occlusion calculation
        //      config->point_occlusion_distance=250; //used in point occlusion calculation
        
        config->max_line_per_object=1000;//used in lines
        config->max_mean_variance=0.1;//used in lines
        //      config->max_mean_variance=5;//used in lines
        
        config->data_acc_scans=20;
        //      config->data_acc_scans=50;
        
        config->max_missing_iterations=30;
        //      config->max_missing_iterations=50;
        
        config->overlap_max=5;
        config->overlap_distance=0.2;
        
        config->display_min_lifetime=10;
        
        //      config->dt=1./13.;
        config->dt=1./30.;
        //      config->dt=1./40.;
//      config->dt=1./50.;
        //      config->dt=1./10.;
        
        config->estimation_window_size=2; //estimation window size for all the error vectors
        
        config->max_stationary_velocity=0.030;
        config->min_moving_velocity=0.100;
        
        config->velocity_acc_size=10;
        
        config->path_lenght=1000;
        
//      config->default_ellipse_axis=0.500;
//      config->max_ellipse_axis=2.000;
//      config->min_ellipse_axis=0.050;
        
        config->default_ellipse_axis=0.500;
        config->max_ellipse_axis=1.500;
        config->min_ellipse_axis=0.050;
        
        config->ezA=1.0;
        config->ezB=0.5;
}

void init_flags(t_flag*flags)
{
        flags->fp_s=true;
        flags->fi=true; 
}

double get_fps(double dt,t_fps*acc)
{
        static bool initialise=true;
        static unsigned int max_size=30;
        
        if(initialise)
        {
                memset(acc->fps,0,max_size*sizeof(double));
                acc->position=0;
                acc->current_size=0;
                
                initialise=false;
        }
        
        acc->fps[acc->position]=1./(double)dt;
        acc->position++;
        
        if(acc->current_size<max_size)
                acc->current_size++;
        
        if(acc->position==max_size)
                acc->position=0;
        
        double mean_fps=0;
        
        for(unsigned int i=0;i<acc->current_size;i++)
                mean_fps+=acc->fps[i];
        
        mean_fps/=acc->current_size;
        
        return mean_fps;
}

int my_tictoc(int status)
{
        static struct timeval timestart;
        struct timeval timenow;
        
        if(status==TIC)
        {
                gettimeofday(&timestart,NULL);
                return 0;
        }else if (status==TOC)
        {
                gettimeofday(&timenow,NULL);
                int ret=timediff(timenow,timestart);
                return ret;
        }else
                return -1;
}

int timediff(struct timeval t1,struct timeval t2)
{
        return (t1.tv_sec-t2.tv_sec)*1000000+(t1.tv_usec-t2.tv_usec);
}

double point2point_distance(double xi,double yi,double xf,double yf)
{       return sqrt((xi-xf)*(xi-xf)+(yi-yf)*(yi-yf));}

double point2point_algebric_distance(double xi,double yi,double xf,double yf)
{       return (xi-xf)*(xi-xf)+(yi-yf)*(yi-yf);}

double point2line_distance(double alpha,double ro,double x,double y)
{       return ro-x*cos(alpha)-y*sin(alpha);}