orientation.h
00001 /*
00002  *  Player - One Hell of a Robot Server
00003  *  Copyright (C) 2000  Brian Gerkey et al
00004  *                      gerkey@usc.edu
00005  *
00006  *  This program is free software; you can redistribute it and/or modify
00007  *  it under the terms of the GNU General Public License as published by
00008  *  the Free Software Foundation; either version 2 of the License, or
00009  *  (at your option) any later version.
00010  *
00011  *  This program is distributed in the hope that it will be useful,
00012  *  but WITHOUT ANY WARRANTY; without even the implied warranty of
00013  *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
00014  *  GNU General Public License for more details.
00015  *
00016  *  You should have received a copy of the GNU General Public License
00017  *  along with this program; if not, write to the Free Software
00018  *  Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
00019  *
00020  */
00021 
00022 /******************************************************
00023  *      orientation - header
00024  *
00025  * Description
00026  *      estimate orientation of the ground object
00027  *
00028  ******************************************************
00029  */
00030 
00031 #ifndef __ORIENTATION__H_
00032 #define __ORIENTATION__H_
00033 
00034 #ifdef __cplusplus
00035 extern "C"
00036 {
00037 #endif
00038 
00039 #include <stdio.h>
00040 #include <math.h>
00041 #include <cv.h>
00042 
00043 
00044 //Estimate the length between two points (cvpoint)
00045 double length(CvPoint *pnt1, CvPoint *pnt2);
00046 
00047 //estimate direction of line
00048 int deltaline(CvPoint *pnt1, CvPoint *pnt2, char ch);
00049 
00050 //estimate total difference between two lines (using delta x and delta y of
00051 //the the two points of a line)
00052 int difference(CvPoint *pnt1, CvPoint *pnt2, CvPoint *pnt3, CvPoint *pnt4, char ch);
00053 
00054 //put length values of lines into array
00055 void fillarray(CvSeq *result);
00056 
00057 //sort array
00058 void sortarray();
00059 
00060 //return centre point of two points
00061 CvPoint centralpoint(CvPoint pnt1, CvPoint pnt2);
00062 
00063 //Get the central point between the two parallel lines
00064 CvPoint getcentralpoint(IplImage *image, CvSeq *res);
00065 
00066 //pnt1 is center of mass of object, pnt2 is found central point
00067 //between parallel lines
00068 float getorientation(CvPoint pnt1, CvPoint pnt2);
00069 
00070 #ifdef __cplusplus
00071 }
00072 #endif
00073 
00074 #endif /* __ORIENTATION__H_ */

Last updated 12 September 2005 21:38:45