hsm.c File Reference

#include <stdlib.h>
#include <math.h>
#include <time.h>
#include <assert.h>
#include "../csm_all.h"
#include "hsm.h"

Include dependency graph for hsm.c:

Go to the source code of this file.

Defines
#define	MAX_NPEAKS   1024
Functions
int	compare_descending (const void *index_pt1, const void *index_pt2)
hsm_buffer	hsm_buffer_alloc (struct hsm_params *p)
void	hsm_buffer_free (hsm_buffer b)
void	hsm_circular_cross_corr_stupid (int n, const double *a, const double *b, double *res)
void	hsm_compute_ht_base (hsm_buffer b, const double base_pose[3])
void	hsm_compute_ht_point (hsm_buffer b, double x0, double y0, double weight)
void	hsm_compute_spectrum (hsm_buffer b)
void	hsm_compute_spectrum_norm (hsm_buffer b)
void	hsm_find_local_maxima_circ (int n, const double *f, int *maxima, int *nmaxima)
void	hsm_find_local_maxima_linear (int n, const double *f, int *maxima, int *nmaxima)
void	hsm_find_peaks_circ (int n, const double *f, double min_angle_deg, int unidir, int max_peaks, int *peaks, int *npeaks)
void	hsm_find_peaks_linear (int n, const double *f, double min_dist, int max_peaks, int *peaks, int *npeaks)
void	hsm_generate_combinations (int nslots, const int possible_choices[], int i, int i_choice[])
int	hsm_is_angle_between_smaller_than_deg (double angle1, double angle2, double threshold_deg)
void	hsm_linear_cross_corr_stupid (int na, const double *a, int nb, const double *b, double *res, int *lags, int min_lag, int max_lag)
void	hsm_match (struct hsm_params *p, hsm_buffer b1, hsm_buffer b2)
int	hsm_rho2index (hsm_buffer b, double rho, int *rho_index, double *alpha)
double	mdax (double a, double b)
int	pos_mod (int a, int b)
void	qsort_descending (int *indexes, size_t nmemb, const double *values)
Variables
const double *	qsort_descending_values = 0

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Define Documentation

#define MAX_NPEAKS   1024

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Function Documentation

int compare_descending	(	const void *	index_pt1,
		const void *	index_pt2
	)

Definition at line 575 of file hsm.c.

hsm_buffer hsm_buffer_alloc

(

struct hsm_params *

)

Allocates the buffer structures. Remember to call hsm_buffer_free afterwards

Definition at line 10 of file hsm.c.

void hsm_buffer_free

(

hsm_buffer

)

Frees the buffer structure

Definition at line 62 of file hsm.c.

void hsm_circular_cross_corr_stupid	(	int	n,
		const double *	a,
		const double *	b,
		double *	res
	)

Creates circular cross-correlation in a stupid way

Definition at line 539 of file hsm.c.

void hsm_compute_ht_base	(	hsm_buffer	,
		const double	base_pose[3]
	)

Private interface This adds a base displacement to the point added by hsm_compute_ht_point

Definition at line 82 of file hsm.c.

void hsm_compute_ht_point	(	hsm_buffer	,
		double	x,
		double	y,
		double	weight
	)

Adds a point to the Hough Transform

Definition at line 90 of file hsm.c.

void hsm_compute_spectrum

(

hsm_buffer

)

Computes the spectrum in the buffer

Definition at line 140 of file hsm.c.

void hsm_compute_spectrum_norm

(

hsm_buffer

b

)

Definition at line 148 of file hsm.c.

void hsm_find_local_maxima_circ	(	int	n,
		const double *	f,
		int *	maxima,
		int *	nmaxima
	)

Finds the local maxima for a circular function. is a pointer to a struct of size n returns the number of maxima found

Definition at line 514 of file hsm.c.

void hsm_find_local_maxima_linear	(	int	n,
		const double *	f,
		int *	maxima,
		int *	nmaxima
	)

Definition at line 526 of file hsm.c.

void hsm_find_peaks_circ	(	int	n,
		const double *	f,
		double	min_angle_deg,
		int	unidir,
		int	max_peaks,
		int *	peaks,
		int *	npeaks
	)

Finds the peaks of a circular function of length
.

Definition at line 401 of file hsm.c.

void hsm_find_peaks_linear	(	int	n,
		const double *	f,
		double	min_dist,
		int	max_peaks,
		int *	peaks,
		int *	npeaks
	)

Definition at line 460 of file hsm.c.

void hsm_generate_combinations	(	int	nslots,
		const int	possible_choices[],
		int	i,
		int	i_choice[]
	)

Definition at line 392 of file hsm.c.

int hsm_is_angle_between_smaller_than_deg	(	double	angle1,
		double	angle2,
		double	threshold_deg
	)

Returns true if (rad) and (rad) are closer than (degrees!)

Definition at line 509 of file hsm.c.

void hsm_linear_cross_corr_stupid	(	int	na,
		const double *	a,
		int	nb,
		const double *	b,
		double *	res,
		int *	lags,
		int	min_lag,
		int	max_lag
	)

Definition at line 551 of file hsm.c.

void hsm_match	(	struct hsm_params *	p,
		hsm_buffer	b1,
		hsm_buffer	b2
	)

Definition at line 156 of file hsm.c.

int hsm_rho2index	(	hsm_buffer	b,
		double	rho,
		int *	rho_index,
		double *	alpha
	)

Returns 0 if out of the buffer. rho_index is the closest cell, alpha between -0.5 and 0.5 specifies the distance from the center of the cell.

Definition at line 119 of file hsm.c.

double mdax	(	double	a,
		double	b
	)

Definition at line 113 of file hsm.c.

int pos_mod	(	int	a,
		int	b
	)

Positive modulo

Definition at line 591 of file hsm.c.

void qsort_descending	(	int *	indexes,
		size_t	nmemb,
		const double *	values
	)

Sorts the indexes based on the values

Definition at line 582 of file hsm.c.

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Variable Documentation

const double* qsort_descending_values = 0

Definition at line 573 of file hsm.c.