ClusterDetector.h
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00001 /*
00002  * Copyright (C) 2009 by Ulrich Friedrich Klank <klank@in.tum.de>
00003  *
00004  * This program is free software; you can redistribute it and/or modify
00005  * it under the terms of the GNU General Public License as published by
00006  * the Free Software Foundation; either version 3 of the License, or
00007  * (at your option) any later version.
00008  *
00009  * This program is distributed in the hope that it will be useful,
00010  * but WITHOUT ANY WARRANTY; without even the implied warranty of
00011  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
00012  * GNU General Public License for more details.
00013  *
00014  * You should have received a copy of the GNU General Public License
00015  * along with this program.  If not, see <http://www.gnu.org/licenses/>.
00016  */
00017 
00018 
00019 #ifndef CLUSTERDETECTOR_H
00020 #define CLUSTERDETECTOR_H
00021 
00022 #define XML_NODE_CLUSTERDETECTOR "ClusterDetector"
00023 
00024 #include "LocateAlgorithm.h"
00025 class PlaneClusterResult;
00026 
00027 namespace cop
00028 {
00029   class SegmentPrototype;
00030 
00031   class ClusterDetector : public LocateAlgorithm
00032   {
00033   public:
00034     ClusterDetector(int swiss, int ptu_base);
00035     ClusterDetector();
00036 
00037     ~ClusterDetector();
00038 
00039     std::vector<RelPose*> Perform(std::vector<Sensor*> sensors, RelPose* pose, Signature& object, int &numOfObjects, double& qualityMeasure);
00040 
00041     std::vector<RelPose*> Inner(Sensor* sens, SegmentPrototype* proto, int &numOfObjects, double& qualityMeasure);
00042 
00043     double CheckSignature(const Signature& object, const std::vector<Sensor*> &sensors);
00044 
00045     bool TrackingPossible(const Reading& img, const Signature& sig, RelPose* pose);
00046 
00047     XMLTag* Save();
00048     void SetData(XMLTag* tag);
00049 
00050     virtual std::string GetName(){return XML_NODE_CLUSTERDETECTOR;}
00051 
00052     static bool CallStaticPlaneClusterExtractor(Sensor* sens, PlaneClusterResult* response, int m_ptu_jlo_id, bool parallel);
00053 
00054   private:
00055     int m_swissranger_jlo_id;
00056     int m_ptu_jlo_id;
00057   };
00058 }
00059 #endif /*CLUSTERDETECTOR_H*/


cop_sr4_plugins
Author(s): U. Klank
autogenerated on Mon Oct 6 2014 10:59:31