C library of triangulation algorithms (for the problems of mobile robot positioning or resection)
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toolbox.h
Go to the documentation of this file.
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/**
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* @file toolbox.h
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*/
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#ifndef __TOOLBOX_H__
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#ifdef _WIN32
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long
int
random(
void
);
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void
srandom(
unsigned
int
seed);
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#endif
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#define __TOOLBOX_H__
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typedef
struct
{
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double
r , g , b ;
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}
color
;
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void
get_angles
(
tfloat
*a1,
tfloat
*a2,
tfloat
*a3,
tfloat
xr,
tfloat
yr,
tfloat
or,
tfloat
x1,
tfloat
y1,
tfloat
x2,
tfloat
y2,
tfloat
x3,
tfloat
y3);
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tfloat
triangulationMethod
(
tfloat
*x,
tfloat
*y,
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tfloat
alpha1,
tfloat
alpha2,
tfloat
alpha3,
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tfloat
x1,
tfloat
y1,
tfloat
x2,
tfloat
y2,
tfloat
x3,
tfloat
y3,
int
method);
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tfloat
mean
(
tfloat
data[] ,
unsigned
long
N );
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tfloat
variance
(
tfloat
data[] ,
unsigned
long
N );
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void
initRand
(
void
);
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tfloat
gaussianRand
(
void
);
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/*tfloat angleSensitivity(tfloat xTrue, tfloat yTrue,
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tfloat x1, tfloat y1, tfloat x2, tfloat y2, tfloat x3, tfloat y3,
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int method, tfloat sigma, unsigned int n, int outputType, double thresh);
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tfloat beaconSensitivity(tfloat xTrue, tfloat yTrue,
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tfloat x1, tfloat y1, tfloat x2, tfloat y2, tfloat x3, tfloat y3,
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int method, tfloat sigma, unsigned int n, int outputType, double thresh);*/
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tfloat
triangulationSensitivity
(
tfloat
xTrue,
tfloat
yTrue,
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tfloat
x1,
tfloat
y1,
tfloat
x2,
tfloat
y2,
tfloat
x3,
tfloat
y3,
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int
method,
tfloat
sigmaAngle,
tfloat
sigmaBeacon,
unsigned
int
n,
int
outputType,
double
thresh);
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tfloat
triangulationGDOP
(
tfloat
xr,
tfloat
yr,
tfloat
x1,
tfloat
y1,
tfloat
x2,
tfloat
y2,
tfloat
x3,
tfloat
y3);
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tfloat
detMatrix33
(
tfloat
M[][3]);
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int
saveMapAndScale
(
tfloat
image[] ,
unsigned
int
Width,
unsigned
int
Height,
unsigned
int
Mode,
unsigned
int
Max,
tfloat
P1);
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int
writePGM
(
tfloat
image[] ,
unsigned
int
width ,
unsigned
int
height ,
unsigned
int
Max ,
char
* fileName );
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int
writePPM
(
tfloat
image[] ,
unsigned
int
width ,
unsigned
int
height ,
unsigned
int
Max ,
char
* fileName );
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color
mapRGB
(
double
v ,
double
vmin ,
double
vmax );
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void
grayscale2RGB
(
tfloat
imageG[] ,
tfloat
imageRGB[] ,
unsigned
int
width ,
unsigned
int
height ,
unsigned
int
Max );
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#endif
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