hsm.h

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#ifndef H_CSM_HSM
#define H_CSM_HSM

#include <stdlib.h>
struct hsm_params {
        double max_norm;
        double linear_cell_size;
        double angular_cell_size_deg;
                
        int num_angular_hypotheses;
        
        double angular_hyp_min_distance_deg;
        
        
        int xc_ndirections;
        
        double xc_directions_min_distance_deg;


        int linear_xc_max_npeaks;

        double linear_xc_peaks_min_distance;
        


        double max_translation;

        int debug_true_x_valid;
        double debug_true_x[3];
};


struct hsm_buffer_struct {
                int num_angular_cells;  
                
                int num_linear_cells;
                
                double linear_cell_size;
                
                double rho_min, rho_max;

                double **ht;

                double *hs;

                int max_num_results;
                
                int num_valid_results;

                double **results;

                double *results_quality;
        

                double *theta;

                double *sint,*cost;
        
                double *hs_cross_corr;
                
                double disp[3];
                double disp_th_cos, disp_th_sin;
};

typedef struct hsm_buffer_struct* hsm_buffer;


        hsm_buffer hsm_buffer_alloc(struct hsm_params*);
        
        void hsm_buffer_free(hsm_buffer);

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


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

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

        void hsm_compute_spectrum_norm(hsm_buffer b);
        
        void hsm_find_local_maxima_circ(int n, const double*f, int*maxima, int*nmaxima);
        
        int hsm_is_angle_between_smaller_than_deg(double angle1, double angle2, double threshold_deg);


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

        void hsm_circular_cross_corr_stupid(int n, const double *a, const double *b, double*res);
        
        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_find_local_maxima_linear(int n, const double*f, int*maxima, int*nmaxima);
         
        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_generate_combinations(int nslots, const int possible_choices[], 
                int i, int i_choice[]) ;

        /* a mod b >= 0 */
        int pos_mod(int a, int b);

        void qsort_descending(int *indexes, size_t nmemb, const double*values);
        
        /* used by qsort_descending */
        int compare_descending(const void *index_pt1, const void *index_pt2);


#endif