orientation.h
/*
* Player - One Hell of a Robot Server
* Copyright (C) 2000 Brian Gerkey et al
* gerkey@usc.edu
*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program; if not, write to the Free Software
* Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*
*/
/******************************************************
* orientation - header
*
* Description
* estimate orientation of the ground object
*
******************************************************
*/
#ifndef __ORIENTATION__H_
#define __ORIENTATION__H_
#ifdef __cplusplus
extern "C"
{
#endif
#include <stdio.h>
#include <math.h>
#include <cv.h>
//Estimate the length between two points (cvpoint)
double length(CvPoint *pnt1, CvPoint *pnt2);
//estimate direction of line
int deltaline(CvPoint *pnt1, CvPoint *pnt2, char ch);
//estimate total difference between two lines (using delta x and delta y of
//the the two points of a line)
int difference(CvPoint *pnt1, CvPoint *pnt2, CvPoint *pnt3, CvPoint *pnt4, char ch);
//put length values of lines into array
void fillarray(CvSeq *result);
//sort array
void sortarray();
//return centre point of two points
CvPoint centralpoint(CvPoint pnt1, CvPoint pnt2);
//Get the central point between the two parallel lines
CvPoint getcentralpoint(IplImage *image, CvSeq *res);
//pnt1 is center of mass of object, pnt2 is found central point
//between parallel lines
float getorientation(CvPoint pnt1, CvPoint pnt2);
#ifdef __cplusplus
}
#endif
#endif /* __ORIENTATION__H_ */
image
Definition: camera.h:149

Last updated 12 September 2005 21:38:45